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: Agilex_Cobot_Magic_heat_burger dataset_uuid: 00000000-0000-0000-0000-000000000000 scene_type: level1: household level2: kitchen level3: null level4: null level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. objects: - object_name: table level1: furniture level2: table level3: null level4: null level5: null - object_name: microwave_oven level1: small_kitchen_appliances level2: microwave_oven level3: null level4: null level5: null - object_name: plate level1: kitchen_supplies level2: plate level3: null level4: null level5: null - object_name: hamburger level1: food level2: hamburger level3: null level4: null level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. task_instruction: - open the microwave oven with the right gripper, put the hamburger in, and then turn it off with the left gripper. turn the button of the microwave oven with the right gripper to heat up the hamburger. turn on the microwave oven, take out the hamburger and place it on the table, then turn it off with the left gripper. sub_tasks: - subtask: Abnormal subtask_index: 0 - subtask: 'Right hand: grab the plate with the hamburger' subtask_index: 1 - subtask: 'Right hand: place the plate on the table' subtask_index: 2 - subtask: 'Right hand: press the switch' subtask_index: 3 - subtask: 'Right hand: place the plate in the microwave' subtask_index: 4 - subtask: End subtask_index: 5 - subtask: 'Right hand: twist timer button' subtask_index: 6 - subtask: 'Left hand: close the microwave door' subtask_index: 7 - subtask: 'null' subtask_index: 8 atomic_actions: - grasp - pick - place - push - turn - press robot_name: - Agilex_Cobot_Magic end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. sensor_list: - cam_head_rgb - cam_right_wrist_rgb - cam_left_wrist_rgb came_info: cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, 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 - scene_annotations.jsonl - subtask_annotations.jsonl statistics: total_episodes: 819 total_frames: 2478415 fps: 30 total_tasks: 9 total_videos: 2457 total_chunks: 1 chunks_size: 10000 state_dim: 26 action_dim: 26 camera_views: 3 dataset_size: 131.36 GB frame_num: 2478469 dataset_size: 131.36 GB data_structure: "Agilex_Cobot_Magic_heat_burger_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| |-- scene_annotations.jsonl\n| `--\ \ subtask_annotations.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| `-- ... (807 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_head_rgb\n\ \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" splits: train: 0:818 val: 802:902 test: 902:1003 features: action: dtype: float32 shape: - 26 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_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 - left_gripper_open - 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_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 - right_gripper_open observation.state: dtype: float32 shape: - 26 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_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 - left_gripper_open - 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_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 - right_gripper_open observation.images.cam_head_rgb: dtype: video shape: - 480 - 640 - 3 names: - height - width - channels info: video.fps: 30.0 video.height: 480 video.width: 640 video.channels: 3 video.codec: h264 video.pix_fmt: yuv420p video.is_depth_map: false has_audio: false observation.images.cam_right_wrist_rgb: dtype: video shape: - 480 - 640 - 3 names: - height - width - channels info: video.fps: 30.0 video.height: 480 video.width: 640 video.channels: 3 video.codec: h264 video.pix_fmt: yuv420p video.is_depth_map: false has_audio: false observation.images.cam_left_wrist_rgb: dtype: video shape: - 480 - 640 - 3 names: - height - width - channels info: video.fps: 30.0 video.height: 480 video.width: 640 video.channels: 3 video.codec: h264 video.pix_fmt: yuv420p video.is_depth_map: false has_audio: false 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 subtask_annotation: names: null dtype: int32 shape: - 5 scene_annotation: names: null dtype: int32 shape: - 1 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 gripper_open_scale_state: names: - left_gripper_open_scale - right_gripper_open_scale dtype: float32 shape: - 2 gripper_open_scale_action: names: - left_gripper_open_scale - right_gripper_open_scale dtype: float32 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_head_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4