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AI2_Alphabot_2_clink_glasses

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Robotics
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English
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RoboCOIN
LeRobot
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metadata 
task_categories:
  - robotics
language:
  - en
extra_gated_prompt: >-
  By accessing this dataset, you agree to cite the associated paper in your
  research/publications—see the "Citation" section for details. You agree to not
  use the dataset to conduct experiments that cause harm to human subjects.
extra_gated_fields:
  Company/Organization:
    type: text
    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
  Country:
    type: country
    description: e.g., "Germany", "China", "United States"
tags:
  - RoboCOIN
  - LeRobot
license: apache-2.0
configs:
  - config_name: default
    data_files: data/chunk-{id}/episode_{id}.parquet

AI2_Alphabot_2_clink_glasses

Dataset Description

This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.

Task Preview

View Video Directly

Overview

  • Total Episodes: 393

  • Total Frames: 337932

  • FPS: 30

  • Dataset Size: 10.16 GB

  • Robot Name: AI2_Alphabot_2

  • End-Effector Type: two_finger_end_effector

  • Teleoperation Type: vr_controller

  • Sensors: cam_front_chest_rgb, cam_front_head_rgb, cam_left_wrist_rgb, cam_right_wrist_rgb

  • Camera Information: cam_front_chest_rgb; cam_front_head_rgb; cam_left_wrist_rgb; cam_right_wrist_rgb

  • Scene: Catering->Restaurant

  • Objects: plastic cup(purple), plastic cup(blue), glass cup(black)

  • Task Description: Pick up one cup with a gripper and tap it against the other cup.

Primary Task Instruction

Pick up one cup with a gripper and tap it against the other cup.

Robot Configuration

  • Robot Name: AI2_Alphabot_2
  • Codebase Version: v2.1
  • End-Effector Type: two_finger_end_effector
  • Teleoperation Type: vr_controller

Scene and Objects

Scene Type

Catering->Restaurant

Objects

  • plastic cup(purple)
  • plastic cup(blue)
  • glass cup(black)

Task Descriptions

  • Standardized Task Description: Pick up one cup with a gripper and tap it against the other cup.

  • Operation Type: fixed_single_arm

  • Environment Type: real_world

Sub-Tasks

This dataset includes 1 distinct subtasks:

  1. Pick up one cup with a gripper and tap it against the other cup.

Atomic Actions

  • pick
  • move
  • place

Hardware and Sensors

Sensors

  • cam_front_chest_rgb

  • cam_front_head_rgb

  • cam_left_wrist_rgb

  • cam_right_wrist_rgb

Camera Information

  • cam_front_chest_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p

  • cam_front_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p

  • cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p

  • cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p

Coordinate System

  • Definition: right-hand-frame

Dimensions & Units

  • Joint Rotation: radian
  • End-Effector Rotation: radian
  • End-Effector Translation: meter

Dataset Statistics

Metric Value
Total Episodes 393
Total Frames 337932
Total Tasks 1
Total Videos 1572
Total Chunks 1
Chunk Size 1000
FPS 30
State Dimensions 34
Action Dimensions 34
Camera Views 4
Dataset Size 10.16 GB

Data Splits

The dataset is organized into the following splits:

  • Training: Episodes 0:392

Dataset Structure

This dataset follows the LeRobot format and contains the following components:

Data Files

  • Videos: Compressed video files containing RGB camera observations
  • State Data: Robot joint positions, velocities, and other state information
  • Action Data: Robot action commands and trajectories
  • Metadata: Episode metadata, timestamps, and annotations

File Organization

  • Data Path Pattern: data/chunk-{id}/episode_{id}.parquet
  • Video Path Pattern: videos/chunk-{id}/observation.images.cam_front_chest_rgb/episode_{id}.mp{id}
  • Chunking: Data is organized into 1 chunk(s) of size 1000

Data Structure (Tree) 

AI2_Alphabot_2_clink_glasses_0_qced_hardlink/
|-- annotations
|   |-- eef_acc_mag_annotation.jsonl
|   |-- eef_direction_annotation.jsonl
|   |-- eef_velocity_annotation.jsonl
|   |-- gripper_activity_annotation.jsonl
|   `-- gripper_mode_annotation.jsonl
|-- data
|   `-- chunk-000
|       |-- episode_000000.parquet
|       |-- episode_000001.parquet
|       |-- episode_000002.parquet
|       |-- episode_000003.parquet
|       |-- episode_000004.parquet
|       |-- episode_000005.parquet
|       |-- episode_000006.parquet
|       |-- episode_000007.parquet
|       |-- episode_000008.parquet
|       |-- episode_000009.parquet
|       |-- episode_000010.parquet
|       `-- episode_000011.parquet
|       `-- ... (381 more entries)
|-- meta
|   |-- episodes.jsonl
|   |-- episodes_stats.jsonl
|   |-- info.json
|   `-- tasks.jsonl
`-- videos
    `-- chunk-000
        |-- observation.images.cam_front_chest_rgb
        |-- observation.images.cam_front_head_rgb
        |-- observation.images.cam_left_wrist_rgb
        `-- observation.images.cam_right_wrist_rgb

Camera Views

This dataset includes 4 camera views: cam_front_chest_rgb, cam_front_head_rgb, cam_left_wrist_rgb, cam_right_wrist_rgb.

Features (Full YAML) 

observation.images.cam_front_chest_rgb:
  dtype: video
  shape:
  - 480
  - 640
  - 3
  names:
  - height
  - width
  - channels
  info:
    video.height: 480
    video.width: 640
    video.codec: av1
    video.pix_fmt: yuv420p
    video.is_depth_map: false
    video.fps: 30
    video.channels: 3
    has_audio: false
observation.images.cam_front_head_rgb:
  dtype: video
  shape:
  - 480
  - 640
  - 3
  names:
  - height
  - width
  - channels
  info:
    video.height: 480
    video.width: 640
    video.codec: av1
    video.pix_fmt: yuv420p
    video.is_depth_map: false
    video.fps: 30
    video.channels: 3
    has_audio: false
observation.images.cam_left_wrist_rgb:
  dtype: video
  shape:
  - 480
  - 640
  - 3
  names:
  - height
  - width
  - channels
  info:
    video.height: 480
    video.width: 640
    video.codec: av1
    video.pix_fmt: yuv420p
    video.is_depth_map: false
    video.fps: 30
    video.channels: 3
    has_audio: false
observation.images.cam_right_wrist_rgb:
  dtype: video
  shape:
  - 480
  - 640
  - 3
  names:
  - height
  - width
  - channels
  info:
    video.height: 480
    video.width: 640
    video.codec: av1
    video.pix_fmt: yuv420p
    video.is_depth_map: false
    video.fps: 30
    video.channels: 3
    has_audio: false
observation.state:
  dtype: float32
  shape:
  - 34
  names:
  - left_arm_joint_1_rad
  - left_arm_joint_2_rad
  - left_arm_joint_3_rad
  - left_arm_joint_4_rad
  - left_arm_joint_5_rad
  - left_arm_joint_6_rad
  - left_arm_joint_7_rad
  - left_eef_pos_x_m
  - left_eef_pos_y_m
  - left_eef_pos_z_m
  - left_eef_rot_euler_x_rad
  - left_eef_rot_euler_y_rad
  - left_eef_rot_euler_z_rad
  - right_arm_joint_1_rad
  - right_arm_joint_2_rad
  - right_arm_joint_3_rad
  - right_arm_joint_4_rad
  - right_arm_joint_5_rad
  - right_arm_joint_6_rad
  - right_arm_joint_7_rad
  - right_eef_pos_x_m
  - right_eef_pos_y_m
  - right_eef_pos_z_m
  - right_eef_rot_euler_x_rad
  - right_eef_rot_euler_y_rad
  - right_eef_rot_euler_z_rad
  - left_gripper_open
  - right_gripper_open
  - neck_joint_1_rad
  - neck_joint_2_rad
  - torso_joint_1_rad
  - torso_joint_2_rad
  - torso_joint_3_rad
  - torso_joint_4_rad
action:
  dtype: float32
  shape:
  - 34
  names:
  - left_arm_joint_1_rad
  - left_arm_joint_2_rad
  - left_arm_joint_3_rad
  - left_arm_joint_4_rad
  - left_arm_joint_5_rad
  - left_arm_joint_6_rad
  - left_arm_joint_7_rad
  - left_eef_pos_x_m
  - left_eef_pos_y_m
  - left_eef_pos_z_m
  - left_eef_rot_euler_x_rad
  - left_eef_rot_euler_y_rad
  - left_eef_rot_euler_z_rad
  - right_arm_joint_1_rad
  - right_arm_joint_2_rad
  - right_arm_joint_3_rad
  - right_arm_joint_4_rad
  - right_arm_joint_5_rad
  - right_arm_joint_6_rad
  - right_arm_joint_7_rad
  - right_eef_pos_x_m
  - right_eef_pos_y_m
  - right_eef_pos_z_m
  - right_eef_rot_euler_x_rad
  - right_eef_rot_euler_y_rad
  - right_eef_rot_euler_z_rad
  - left_gripper_open
  - right_gripper_open
  - neck_joint_1_rad
  - neck_joint_2_rad
  - torso_joint_1_rad
  - torso_joint_2_rad
  - torso_joint_3_rad
  - torso_joint_4_rad
timestamp:
  dtype: float32
  shape:
  - 1
  names: null
frame_index:
  dtype: int64
  shape:
  - 1
  names: null
episode_index:
  dtype: int64
  shape:
  - 1
  names: null
index:
  dtype: int64
  shape:
  - 1
  names: null
task_index:
  dtype: int64
  shape:
  - 1
  names: null
gripper_open_scale_state:
  names:
  - left_gripper_open_scale
  - right_gripper_open_scale
  dtype: float64
  shape:
  - 2
gripper_open_scale_action:
  names:
  - left_gripper_open_scale
  - right_gripper_open_scale
  dtype: float64
  shape:
  - 2
eef_sim_pose_state:
  names:
  - left_eef_pos_x
  - left_eef_pos_y
  - left_eef_pos_z
  - left_eef_rot_x
  - left_eef_rot_y
  - left_eef_rot_z
  - right_eef_pos_x
  - right_eef_pos_y
  - right_eef_pos_z
  - right_eef_rot_x
  - right_eef_rot_y
  - right_eef_rot_z
  dtype: float32
  shape:
  - 12
eef_sim_pose_action:
  names:
  - left_eef_pos_x
  - left_eef_pos_y
  - left_eef_pos_z
  - left_eef_rot_x
  - left_eef_rot_y
  - left_eef_rot_z
  - right_eef_pos_x
  - right_eef_pos_y
  - right_eef_pos_z
  - right_eef_rot_x
  - right_eef_rot_y
  - right_eef_rot_z
  dtype: float32
  shape:
  - 12
eef_direction_state:
  names:
  - left_eef_direction
  - right_eef_direction
  dtype: int32
  shape:
  - 2
eef_direction_action:
  names:
  - left_eef_direction
  - right_eef_direction
  dtype: int32
  shape:
  - 2
eef_velocity_state:
  names:
  - left_eef_velocity
  - right_eef_velocity
  dtype: int32
  shape:
  - 2
eef_velocity_action:
  names:
  - left_eef_velocity
  - right_eef_velocity
  dtype: int32
  shape:
  - 2
eef_acc_mag_state:
  names:
  - left_eef_acc_mag
  - right_eef_acc_mag
  dtype: int32
  shape:
  - 2
eef_acc_mag_action:
  names:
  - left_eef_acc_mag
  - right_eef_acc_mag
  dtype: int32
  shape:
  - 2
gripper_mode_state:
  names:
  - left_gripper_mode
  - right_gripper_mode
  dtype: int32
  shape:
  - 2
gripper_mode_action:
  names:
  - left_gripper_mode
  - right_gripper_mode
  dtype: int32
  shape:
  - 2
gripper_activity_state:
  names:
  - left_gripper_activity
  - right_gripper_activity
  dtype: int32
  shape:
  - 2
gripper_activity_action:
  names:
  - left_gripper_activity
  - right_gripper_activity
  dtype: int32
  shape:
  - 2

Available Annotations

This dataset includes rich annotations to support diverse learning approaches:

  • eef_acc_mag_annotation.jsonl
  • eef_direction_annotation.jsonl
  • eef_velocity_annotation.jsonl
  • gripper_activity_annotation.jsonl
  • gripper_mode_annotation.jsonl

Dataset Tags

  • RoboCOIN
  • LeRobot

Authors

Contributors

This dataset is contributed by:-RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)

Annotators

No annotator information available.

Links

Contact and Support

For questions, issues, or feedback regarding this dataset, please contact us.

Support

For technical support, please open an issue on our GitHub repository.

License

apache-2.0

Citation

If you use this dataset in your research, please cite:

@article{robocoin,
  title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},
  author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},
  journal={arXiv preprint arXiv:2511.17441},
  url = {https://arxiv.org/abs/2511.17441},
  year={2025},
  }

Additional References

If you use this dataset, please also consider citing: LeRobot Framework: https://github.com/huggingface/lerobot

Version Information

Initial Release