| 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_stack_cups |
| dataset_uuid: 533d98e9-732c-43c8-8afe-fa39374da4ac |
| 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: plastic cup |
| color: yellow |
| task_operation_type: fixed_single_arm |
| task_instruction: &id001 |
| - Stack the three plastic cups sequentially using one hand. |
| atomic_actions: |
| - pick |
| - 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: 403 |
| total_frames: 324466 |
| fps: 30 |
| total_tasks: 1 |
| total_videos: 1612 |
| total_chunks: 1 |
| chunks_size: 1000 |
| state_dim: 34 |
| action_dim: 34 |
| camera_views: 4 |
| dataset_size: 9.35 GB |
| frame_num: 324466 |
| frame_range: 1M |
| dataset_size: 9.35 GB |
| data_structure: "AI2_Alphabot_2_stack_cups_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| `-- ...\ |
| \ (391 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: 0:402 |
| 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 |
|
|
