task_categories: - robotics language: - en tags: - RoboCOIN - LeRobot license: apache-2.0 configs: - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. extra_gated_fields: Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" Country: type: country description: e.g., "Germany", "China", "United States" codebase_version: v2.1 dataset_name: AI2_Alphabot_2_clink_glasses dataset_uuid: 91b7e2f3-5f9e-42a0-85d9-3463b5c9f371 scene_type: level1: Catering level2: Restaurant level3: null level4: null level5: null env_type: real_world objects: - object_name: plastic cup color: purple - object_name: plastic cup color: blue - object_name: glass cup color: black task_operation_type: fixed_single_arm task_instruction: &id001 - Pick up one cup with a gripper and tap it against the other cup. atomic_actions: - pick - move - place robot_name: AI2_Alphabot_2 end_effector_type: two_finger_end_effector tele_type: vr_controller sensor_list: - cam_front_chest_rgb - cam_front_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb came_info: 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 depth_enabled: false coordinate_definition: right-hand-frame joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter annotations: - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl - gripper_activity_annotation.jsonl - gripper_mode_annotation.jsonl statistics: total_episodes: 393 total_frames: 337932 fps: 30 total_tasks: 1 total_videos: 1572 total_chunks: 1 chunks_size: 1000 state_dim: 34 action_dim: 34 camera_views: 4 dataset_size: 10.16 GB frame_num: 337932 frame_range: 1M dataset_size: 10.16 GB data_structure: "AI2_Alphabot_2_clink_glasses_0_qced_hardlink/\n|-- annotations\n\ | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n|\ \ |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ | `-- gripper_mode_annotation.jsonl\n|-- data\n| `-- chunk-000\n| |--\ \ episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n\ | |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| \ \ |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ...\ \ (381 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |--\ \ observation.images.cam_front_chest_rgb\n |-- observation.images.cam_front_head_rgb\n\ \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" splits: train: 0:392 features: 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 authors: contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" additional_citations: 'If you use this dataset, please also consider citing: LeRobot Framework: https://github.com/huggingface/lerobot ' version_info: Initial Release data_path: data/chunk-{id}/episode_{id}.parquet video_path: videos/chunk-{id}/observation.images.cam_front_chest_rgb/episode_{id}.mp{id} sub_tasks: *id001 video_url: videos/chunk-000/observation.images.cam_front_chest_rgb/episode_000000.mp4