--- title: Agilex_Split_Aloha_pour_drink canonical_url: "https://www.modelscope.cn/datasets/RoboCOIN/Agilex_Split_Aloha_pour_drink" md_url: "https://www.modelscope.cn/datasets/RoboCOIN/Agilex_Split_Aloha_pour_drink.md" repository: RoboCOIN/Agilex_Split_Aloha_pour_drink last_updated: 2026-06-27 license: apache-2.0 storage_size: "13 GB" downloads: 546505 stars: 0 --- # Agilex_Split_Aloha_pour_drink > Agilex_Split_Aloha_pour_drink - RoboCOIN 在 ModelScope 开源的数据集。AgilexSplitAlohapourdrink RoboCOIN/Agilex_Split_Aloha_pour_drink 是 ModelScope 魔搭社区上的数据集，存储大小 13 GB，采用 apache-2.0 许可。 - **Repository**: RoboCOIN/Agilex_Split_Aloha_pour_drink - **License**: apache-2.0 - **Storage size**: 13 GB - **Downloads**: 546505 - **Stars**: 0 - **Last updated**: 2026-06-27 Source: https://www.modelscope.cn/datasets/RoboCOIN/Agilex_Split_Aloha_pour_drink --- # Agilex_Split_Aloha_pour_drink ## Dataset Description This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot. ## Task Preview [View Video Directly](videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4) ### Overview - **Total Episodes:** 1613 - **Total Frames:** 862292 - **FPS:** 30 - **Dataset Size:** 12.56 GB - **Robot Name:** `Agilex_Split_Aloha` - **End-Effector Type:** `two_finger_end_effector` - **Teleoperation Type:** `Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.` - **Sensors:** `cam_high_rgb`, `cam_left_wrist_rgb`, `cam_right_wrist_rgb` - **Camera Information:** cam_high_rgb; cam_left_wrist_rgb; cam_right_wrist_rgb - **Scene:** `home` - **Objects:** `table(unknown)`, `NFC_orange_juice(unknown)`, `red_wine(unknown)`, `sprite(unknown)`, `black_mug(unknown)`, `paper_cup(unknown)`, `transparent_cup(unknown)`, `tablecloth(unknown)`, `cestbon(unknown)`, `coffee(unknown)`, `cola(unknown)`, `milk(unknown)`, `cup(unknown)` - **Task Description:** Fill the black mug completely with NFC orange juice with the gripper., Pour half of the NFC orange juice into the black mug with the gripper., Pour three quarters of the NFC orange juice into the black mug with the gripper., Pour a quarter of the NFC orange juice into the black mug with the gripper., Fill the paper cup completely with NFC orange juice with the gripper., Pour half of the NFC orange juice into the paper cup with the gripper., Pour three quarters of the NFC orange juice into the paper cup with the gripper., Pour a quarter of the NFC orange juice into the paper cup with the gripper., Fill the transparent cup completely with NFC orange juice with the gripper., Pour half of the NFC orange juice into the transparent cup with the gripper., Pour three quarters of the NFC orange juice into the transparent cup with the gripper., Pour a quarter of the NFC orange juice into the transparent cup with the gripper., Fill the black mug completely with red wine with the gripper., Pour half of the red wine into the black mug with the gripper., Pour three quarters of the red wine into the black mug with the gripper., Pour a quarter of the red wine into the black mug with the gripper., Fill the paper cup completely with red wine with the gripper., Pour half of the red wine into the paper cup with the gripper., Pour three quarters of the red wine into the paper cup with the gripper., Pour a quarter of the red wine into the paper cup with the gripper., Fill the transparent cup completely with red wine with the gripper., Pour half of the red wine into the transparent cup with the gripper., Pour three quarters of the red wine into the transparent cup with the gripper., Pour a quarter of the red wine into the transparent cup with the gripper., Fill the black mug completely with Sprite with the gripper., Pour half of the sprite into the black mug with the gripper., Pour three quarters of the sprite into the black mug with the gripper., Pour a quarter of the sprite into the black mug with the gripper., Fill the paper cup completely with Sprite with the gripper., Pour half of the sprite into the paper cup with the gripper., Pour three quarters of the sprite into the paper cup with the gripper., Pour a quarter of the sprite into the paper cup with the gripper., Fill the transparent cup completely with sprite with the gripper., Pour half of the sprite into the transparent cup with the gripper., Pour three quarters of the sprite into the transparent cup with the gripper., Pour a quarter of the sprite into the transparent cup with the gripper., Pour the cestbon into the black cup with the gripper., Pour the cestbon into the gray cup with the gripper., Pour the cestbon into the red cup with the gripper., Pour the cestbon into the white cup with the gripper., Pour the cestbon into the yellow cup with the gripper., Pour the coffee into the black cup with the gripper., Pour the coffee into the gray cup with the gripper., Pour the coffee into the red cup with the gripper., Pour the coffee into the white cup with the gripper., Pour the coffee into the yellow cup with the gripper., Pour the cola into the black cup with the gripper., Pour the cola into the gray cup with the gripper., Pour the cola into the red cup with the gripper., Pour the cola into the white cup with the gripper., Pour the cola into the yellow cup with the gripper., Pour the milk into the black cup with the gripper., Pour the milk into the gray cup with the gripper., Pour the milk into the red cup with the gripper., Pour the milk into the white cup with the gripper., Pour the milk into the yellow cup with the gripper., Pour the sprite into the black cup with the gripper., Pour the sprite into the gray cup with the gripper., Pour the sprite into the red cup with the gripper., Pour the sprite into the white cup with the gripper., Pour the sprite into the yellow cup with the gripper. ### Primary Task Instruction > Fill the black mug completely with NFC orange juice with the gripper., Pour half of the NFC orange juice into the black mug with the gripper., Pour three quarters of the NFC orange juice into the black mug with the gripper., Pour a quarter of the NFC orange juice into the black mug with the gripper., Fill the paper cup completely with NFC orange juice with the gripper., Pour half of the NFC orange juice into the paper cup with the gripper., Pour three quarters of the NFC orange juice into the paper cup with the gripper., Pour a quarter of the NFC orange juice into the paper cup with the gripper., Fill the transparent cup completely with NFC orange juice with the gripper., Pour half of the NFC orange juice into the transparent cup with the gripper., Pour three quarters of the NFC orange juice into the transparent cup with the gripper., Pour a quarter of the NFC orange juice into the transparent cup with the gripper., Fill the black mug completely with red wine with the gripper., Pour half of the red wine into the black mug with the gripper., Pour three quarters of the red wine into the black mug with the gripper., Pour a quarter of the red wine into the black mug with the gripper., Fill the paper cup completely with red wine with the gripper., Pour half of the red wine into the paper cup with the gripper., Pour three quarters of the red wine into the paper cup with the gripper., Pour a quarter of the red wine into the paper cup with the gripper., Fill the transparent cup completely with red wine with the gripper., Pour half of the red wine into the transparent cup with the gripper., Pour three quarters of the red wine into the transparent cup with the gripper., Pour a quarter of the red wine into the transparent cup with the gripper., Fill the black mug completely with Sprite with the gripper., Pour half of the sprite into the black mug with the gripper., Pour three quarters of the sprite into the black mug with the gripper., Pour a quarter of the sprite into the black mug with the gripper., Fill the paper cup completely with Sprite with the gripper., Pour half of the sprite into the paper cup with the gripper., Pour three quarters of the sprite into the paper cup with the gripper., Pour a quarter of the sprite into the paper cup with the gripper., Fill the transparent cup completely with sprite with the gripper., Pour half of the sprite into the transparent cup with the gripper., Pour three quarters of the sprite into the transparent cup with the gripper., Pour a quarter of the sprite into the transparent cup with the gripper., Pour the cestbon into the black cup with the gripper., Pour the cestbon into the gray cup with the gripper., Pour the cestbon into the red cup with the gripper., Pour the cestbon into the white cup with the gripper., Pour the cestbon into the yellow cup with the gripper., Pour the coffee into the black cup with the gripper., Pour the coffee into the gray cup with the gripper., Pour the coffee into the red cup with the gripper., Pour the coffee into the white cup with the gripper., Pour the coffee into the yellow cup with the gripper., Pour the cola into the black cup with the gripper., Pour the cola into the gray cup with the gripper., Pour the cola into the red cup with the gripper., Pour the cola into the white cup with the gripper., Pour the cola into the yellow cup with the gripper., Pour the milk into the black cup with the gripper., Pour the milk into the gray cup with the gripper., Pour the milk into the red cup with the gripper., Pour the milk into the white cup with the gripper., Pour the milk into the yellow cup with the gripper., Pour the sprite into the black cup with the gripper., Pour the sprite into the gray cup with the gripper., Pour the sprite into the red cup with the gripper., Pour the sprite into the white cup with the gripper., Pour the sprite into the yellow cup with the gripper. ### Robot Configuration - **Robot Name:** `Agilex_Split_Aloha` - **Codebase Version:** `v2.1` - **End-Effector Type:** `two_finger_end_effector` - **Teleoperation Type:** `Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.` ## Scene and Objects ### Scene Type - `home` ### Objects - `table(unknown)` - `NFC_orange_juice(unknown)` - `red_wine(unknown)` - `sprite(unknown)` - `black_mug(unknown)` - `paper_cup(unknown)` - `transparent_cup(unknown)` - `tablecloth(unknown)` - `cestbon(unknown)` - `coffee(unknown)` - `cola(unknown)` - `milk(unknown)` - `cup(unknown)` ## Task Descriptions - **Standardized Task Description:** `Fill the black mug completely with NFC orange juice with the gripper., Pour half of the NFC orange juice into the black mug with the gripper., Pour three quarters of the NFC orange juice into the black mug with the gripper., Pour a quarter of the NFC orange juice into the black mug with the gripper., Fill the paper cup completely with NFC orange juice with the gripper., Pour half of the NFC orange juice into the paper cup with the gripper., Pour three quarters of the NFC orange juice into the paper cup with the gripper., Pour a quarter of the NFC orange juice into the paper cup with the gripper., Fill the transparent cup completely with NFC orange juice with the gripper., Pour half of the NFC orange juice into the transparent cup with the gripper., Pour three quarters of the NFC orange juice into the transparent cup with the gripper., Pour a quarter of the NFC orange juice into the transparent cup with the gripper., Fill the black mug completely with red wine with the gripper., Pour half of the red wine into the black mug with the gripper., Pour three quarters of the red wine into the black mug with the gripper., Pour a quarter of the red wine into the black mug with the gripper., Fill the paper cup completely with red wine with the gripper., Pour half of the red wine into the paper cup with the gripper., Pour three quarters of the red wine into the paper cup with the gripper., Pour a quarter of the red wine into the paper cup with the gripper., Fill the transparent cup completely with red wine with the gripper., Pour half of the red wine into the transparent cup with the gripper., Pour three quarters of the red wine into the transparent cup with the gripper., Pour a quarter of the red wine into the transparent cup with the gripper., Fill the black mug completely with Sprite with the gripper., Pour half of the sprite into the black mug with the gripper., Pour three quarters of the sprite into the black mug with the gripper., Pour a quarter of the sprite into the black mug with the gripper., Fill the paper cup completely with Sprite with the gripper., Pour half of the sprite into the paper cup with the gripper., Pour three quarters of the sprite into the paper cup with the gripper., Pour a quarter of the sprite into the paper cup with the gripper., Fill the transparent cup completely with sprite with the gripper., Pour half of the sprite into the transparent cup with the gripper., Pour three quarters of the sprite into the transparent cup with the gripper., Pour a quarter of the sprite into the transparent cup with the gripper., Pour the cestbon into the black cup with the gripper., Pour the cestbon into the gray cup with the gripper., Pour the cestbon into the red cup with the gripper., Pour the cestbon into the white cup with the gripper., Pour the cestbon into the yellow cup with the gripper., Pour the coffee into the black cup with the gripper., Pour the coffee into the gray cup with the gripper., Pour the coffee into the red cup with the gripper., Pour the coffee into the white cup with the gripper., Pour the coffee into the yellow cup with the gripper., Pour the cola into the black cup with the gripper., Pour the cola into the gray cup with the gripper., Pour the cola into the red cup with the gripper., Pour the cola into the white cup with the gripper., Pour the cola into the yellow cup with the gripper., Pour the milk into the black cup with the gripper., Pour the milk into the gray cup with the gripper., Pour the milk into the red cup with the gripper., Pour the milk into the white cup with the gripper., Pour the milk into the yellow cup with the gripper., Pour the sprite into the black cup with the gripper., Pour the sprite into the gray cup with the gripper., Pour the sprite into the red cup with the gripper., Pour the sprite into the white cup with the gripper., Pour the sprite into the yellow cup with the gripper.` - **Operation Type:** `Due to some reasons, this dataset temporarily cannot provide the operation type information.` - **Environment Type:** `Due to some reasons, this dataset temporarily cannot provide the environment type information.` ### Sub-Tasks This dataset includes 57 distinct subtasks: 1. **Grasp the black cup with left gripper.** (Index: 0) 2. **Grasp the white cup with right gripper.** (Index: 1) 3. **Static.** (Index: 2) 4. **Place the orange juice bottle on the table with left gripper.** (Index: 3) 5. **Lift the black cup with left gripper.** (Index: 4) 6. **Place the water bottle on the table with right gripper.** (Index: 5) 7. **Place the grey cup on the table with left gripper.** (Index: 6) 8. **End.** (Index: 7) 9. **Place the sprite bottle on the table with right gripper.** (Index: 8) 10. **Lift the red cup with left gripper.** (Index: 9) 11. **Place the cola bottle on the table with left gripper.** (Index: 10) 12. **Grasp the bottle with cola with right gripper.** (Index: 11) 13. **Grasp the bottle with sprite with left gripper.** (Index: 12) 14. **Pour the water from bottle to cup with right gripper.** (Index: 13) 15. **Place the coffee bottle on the table with right gripper.** (Index: 14) 16. **Grasp the bottle with orange juice with left gripper.** (Index: 15) 17. **Pour the red wine from bottle to cup with left gripper.** (Index: 16) 18. **Place the black cup in the center of view with right gripper.** (Index: 17) 19. **Place the transparent cup on the table with right gripper.** (Index: 18) 20. **Place the white cup on the table with right gripper.** (Index: 19) 21. **Grasp the bottle filled water with right gripper.** (Index: 20) 22. **Grasp the bottle with coffee with right gripper.** (Index: 21) 23. **Place the yellow paper cup on the table with left gripper.** (Index: 22) 24. **Pour the yuexian Milk from bottle to cup with right gripper.** (Index: 23) 25. **Grasp the bottle with red wine with left gripper.** (Index: 24) 26. **Grasp the black cup with right gripper.** (Index: 25) 27. **Place the white cup on the table with left gripper.** (Index: 26) 28. **Grasp the yellow paper cup with right gripper.** (Index: 27) 29. **Grasp the yellow paper cup with left gripper.** (Index: 28) 30. **Pour the orange juice from bottle to cup with left gripper.** (Index: 29) 31. **Grasp the bottle with water with right gripper.** (Index: 30) 32. **Pour the yogurt from bottle to cup with left gripper.** (Index: 31) 33. **Grasp the bottle with yuexian Milk with right gripper.** (Index: 32) 34. **Place the yellow paper cup on the table with right gripper.** (Index: 33) 35. **Pour the cola from bottle to cup with right gripper.** (Index: 34) 36. **Abnormal.** (Index: 35) 37. **Grasp the white cup with left gripper.** (Index: 36) 38. **Pour the sprite from bottle to cup with left gripper.** (Index: 37) 39. **Lift the grey cup with left gripper.** (Index: 38) 40. **Place the black cup on the table with left gripper.** (Index: 39) 41. **Grasp the red cup with left gripper.** (Index: 40) 42. **Place the red cup on the table with left gripper.** (Index: 41) 43. **Lift the yellow paper cup with right gripper.** (Index: 42) 44. **Grasp the grey cup with left gripper.** (Index: 43) 45. **Place the yuexian Milk bottle on the table with right gripper.** (Index: 44) 46. **Lift the yellow paper cup with left gripper.** (Index: 45) 47. **Place the sprite bottle on the table with left gripper.** (Index: 46) 48. **Lift the white cup with left gripper.** (Index: 47) 49. **Place the cola bottle on the table with right gripper.** (Index: 48) 50. **Pour the sprite from bottle to cup with right gripper.** (Index: 49) 51. **Place the red wine bottle on the table with left gripper.** (Index: 50) 52. **Lift the white cup with right gripper.** (Index: 51) 53. **Grasp the transparent cup with right gripper.** (Index: 52) 54. **Grasp the bottle with sprite with right gripper.** (Index: 53) 55. **Pour the coffee from bottle to cup with right gripper.** (Index: 54) 56. **Lift the grey cup with right gripper.** (Index: 55) 57. **null.** (Index: 56) ### Atomic Actions - `grasp` - `pick` - `place` - `pour` ## Hardware and Sensors ### Sensors - `cam_high_rgb` - `cam_left_wrist_rgb` - `cam_right_wrist_rgb` ### Camera Information - `cam_high_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** | 1613 | | **Total Frames** | 862292 | | **Total Tasks** | 57 | | **Total Videos** | 4839 | | **Total Chunks** | 2 | | **Chunk Size** | 1000 | | **FPS** | 30 | | **State Dimensions** | 26 | | **Action Dimensions** | 26 | | **Camera Views** | 3 | | **Dataset Size** | 12.56 GB | ## Data Splits The dataset is organized into the following splits: - **Training**: Episodes 0:1612 ## 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_high_rgb/episode_{id}.mp{id}` - **Chunking**: Data is organized into 2 chunk(s) of size 1000 ### Data Structure (Tree) ``` Cobot_Magic_pour_drink_qced_hardlink/ |-- 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 |-- 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 | | `-- ... (988 more entries) | `-- chunk-001 | |-- episode_001000.parquet | |-- episode_001001.parquet | |-- episode_001002.parquet | |-- episode_001003.parquet | |-- episode_001004.parquet | |-- episode_001005.parquet | |-- episode_001006.parquet | |-- episode_001007.parquet | |-- episode_001008.parquet | |-- episode_001009.parquet | |-- episode_001010.parquet | `-- episode_001011.parquet | `-- ... (601 more entries) |-- meta | |-- episodes.jsonl | |-- episodes_stats.jsonl | |-- info.json | `-- tasks.jsonl |-- videos | |-- chunk-000 | | |-- observation.images.cam_high_rgb | | |-- observation.images.cam_left_wrist_rgb | | `-- observation.images.cam_right_wrist_rgb | `-- chunk-001 | |-- observation.images.cam_high_rgb | |-- observation.images.cam_left_wrist_rgb | `-- observation.images.cam_right_wrist_rgb `-- README.md ``` ## Camera Views This dataset includes 3 camera views: `cam_high_rgb`, `cam_left_wrist_rgb`, `cam_right_wrist_rgb`. ## Features (Full YAML) ```yaml observation.images.cam_high_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: - 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_gripper_open - 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_gripper_open - 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 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_gripper_open - 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_gripper_open - 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 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_ori_x - left_eef_ori_y - left_eef_ori_z - right_eef_pos_x - right_eef_pos_y - right_eef_pos_z - right_eef_ori_x - right_eef_ori_y - right_eef_ori_z dtype: float32 shape: - 12 eef_sim_pose_action: names: - left_eef_pos_x - left_eef_pos_y - left_eef_pos_z - left_eef_ori_x - left_eef_ori_y - left_eef_ori_z - right_eef_pos_x - right_eef_pos_y - right_eef_pos_z - right_eef_ori_x - right_eef_ori_y - right_eef_ori_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_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 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 ``` ## 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` - `scene_annotations.jsonl` - `subtask_annotations.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 - **Homepage:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/) - **Paper:** [https://arxiv.org/abs/2511.17441](https://arxiv.org/abs/2511.17441) - **Repository:** [https://github.com/FlagOpen/RoboCOIN](https://github.com/FlagOpen/RoboCOIN) ## 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: ```bibtex @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