--- title: Agilex_Split_Aloha_twist_bottle_cap canonical_url: "https://www.modelscope.cn/datasets/RoboCOIN/Agilex_Split_Aloha_twist_bottle_cap" md_url: "https://www.modelscope.cn/datasets/RoboCOIN/Agilex_Split_Aloha_twist_bottle_cap.md" repository: RoboCOIN/Agilex_Split_Aloha_twist_bottle_cap last_updated: 2026-06-27 license: apache-2.0 storage_size: "8.7 GB" downloads: 316794 stars: 0 --- # Agilex_Split_Aloha_twist_bottle_cap > Agilex_Split_Aloha_twist_bottle_cap - RoboCOIN 在 ModelScope 开源的数据集。AgilexSplitAlohatwistbottlecap RoboCOIN/Agilex_Split_Aloha_twist_bottle_cap 是 ModelScope 魔搭社区上的数据集，存储大小 8.7 GB，采用 apache-2.0 许可。 - **Repository**: RoboCOIN/Agilex_Split_Aloha_twist_bottle_cap - **License**: apache-2.0 - **Storage size**: 8.7 GB - **Downloads**: 316794 - **Stars**: 0 - **Last updated**: 2026-06-27 Source: https://www.modelscope.cn/datasets/RoboCOIN/Agilex_Split_Aloha_twist_bottle_cap --- # Agilex_Split_Aloha_twist_bottle_cap ## 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:** 863 - **Total Frames:** 749388 - **FPS:** 30 - **Dataset Size:** 8.69 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)`, `bottle(unknown)`, `master_kong_oolong_tea(unknown)`, `green_tea(unknown)`, `meinianda(unknown)`, `yili_changqing(unknown)`, `cestbon(unknown)` - **Task Description:** Tighten the cap on the water bottle with the gripper., Loosen the cap of the mineral water bottle with the gripper., Tighten the cap of the green tea bottle with the gripper., Loosen the cap of the green tea bottle with the gripper., Tighten the cap of the Master Kong Oolong tea bottle with the gripper., Loosen the bottle cap of Master Kang Oolong Tea with the gripper., Tighten the cap of the meinianda bottle with the gripper., Loosen the cap of the meinianda bottle with the gripper., Tighten the cap of the Yili Changqing bottle with the gripper. ### Primary Task Instruction > Tighten the cap on the water bottle with the gripper., Loosen the cap of the mineral water bottle with the gripper., Tighten the cap of the green tea bottle with the gripper., Loosen the cap of the green tea bottle with the gripper., Tighten the cap of the Master Kong Oolong tea bottle with the gripper., Loosen the bottle cap of Master Kang Oolong Tea with the gripper., Tighten the cap of the meinianda bottle with the gripper., Loosen the cap of the meinianda bottle with the gripper., Tighten the cap of the Yili Changqing bottle 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)` - `bottle(unknown)` - `master_kong_oolong_tea(unknown)` - `green_tea(unknown)` - `meinianda(unknown)` - `yili_changqing(unknown)` - `cestbon(unknown)` ## Task Descriptions - **Standardized Task Description:** `Tighten the cap on the water bottle with the gripper., Loosen the cap of the mineral water bottle with the gripper., Tighten the cap of the green tea bottle with the gripper., Loosen the cap of the green tea bottle with the gripper., Tighten the cap of the Master Kong Oolong tea bottle with the gripper., Loosen the bottle cap of Master Kang Oolong Tea with the gripper., Tighten the cap of the meinianda bottle with the gripper., Loosen the cap of the meinianda bottle with the gripper., Tighten the cap of the Yili Changqing bottle 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 51 distinct subtasks: 1. **Place the Yili Changqing with the left gripper.** (Index: 0) 2. **Lift the Peach Oolong Tea with the left gripper.** (Index: 1) 3. **Place the bottle cap on the table with the right gripper.** (Index: 2) 4. **Move the Peach Oolong Tea from right to left.** (Index: 3) 5. **Move from left to right.** (Index: 4) 6. **Move the Peach Oolong Tea from left to right.** (Index: 5) 7. **Secure the C'estbon with the left gripper.** (Index: 6) 8. **Move the Mirinda to the right with the left gripper.** (Index: 7) 9. **Place the bottle on the table with the left gripper.** (Index: 8) 10. **Grasp the bottle and move it to the center of the table with the left gripper.** (Index: 9) 11. **Move the Mirinda from left to right.** (Index: 10) 12. **Move the Mirinda from top to bottom.** (Index: 11) 13. **Discard.** (Index: 12) 14. **Place the bottle cap on the table.** (Index: 13) 15. **End.** (Index: 14) 16. **Place the C'estbon with the left gripper.** (Index: 15) 17. **Move the Mirinda from right to left.** (Index: 16) 18. **Move the green tea to the right with the left gripper.** (Index: 17) 19. **Lift the bottle and move it to the center of the table with the left gripper.** (Index: 18) 20. **pick up the green tea with the left gripper.** (Index: 19) 21. **Secure the Peach Oolong Tea with the left gripper.** (Index: 20) 22. **Place the Mirinda with the left gripper.** (Index: 21) 23. **Fix the Yili Changqing on the left.** (Index: 22) 24. **Secure the green tea with the left gripper.** (Index: 23) 25. **Secure the Yili Changqing with the left gripper.** (Index: 24) 26. **Move the Yili Changqing from left to right.** (Index: 25) 27. **Abnormal.** (Index: 26) 28. **Place the bottle cap on the right.** (Index: 27) 29. **Place the green tea with the left gripper.** (Index: 28) 30. **end.** (Index: 29) 31. **Move the Yili Changqing to the right with the left gripper.** (Index: 30) 32. **Lift the green tea with the left gripper.** (Index: 31) 33. **pick up the C'estbon with the left gripper.** (Index: 32) 34. **Move from right to left.** (Index: 33) 35. **Unscrew the bottle cap with the right gripper while holding the bottle with the left gripper.** (Index: 34) 36. **Secure the Mirinda with the left gripper.** (Index: 35) 37. **pick up the Yili Changqing with the left gripper.** (Index: 36) 38. **Lift the Yili Changqing with the left gripper.** (Index: 37) 39. **Move the C'estbon to the right with the left gripper.** (Index: 38) 40. **Place the Peach Oolong Tea with the left gripper.** (Index: 39) 41. **Move the Yili Changqing from right to left.** (Index: 40) 42. **Fix the Mirinda on the left.** (Index: 41) 43. **Move the Yili Changqing from bottom to top.** (Index: 42) 44. **pick up the Peach Oolong Tea with the left gripper.** (Index: 43) 45. **Move the Peach Oolong Tea to the right with the left gripper.** (Index: 44) 46. **Move the Yili Changqing from top to bottom.** (Index: 45) 47. **pick up the Mirinda with the left gripper.** (Index: 46) 48. **rotate the bottle cap with the right gripper.** (Index: 47) 49. **Lift the Mirinda with the left gripper.** (Index: 48) 50. **Place the bottle cap on the table with the right gripper.** (Index: 49) 51. **null.** (Index: 50) ### Atomic Actions - `grasp` - `pick` - `place` - `rotate` ## 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** | 863 | | **Total Frames** | 749388 | | **Total Tasks** | 51 | | **Total Videos** | 2589 | | **Total Chunks** | 1 | | **Chunk Size** | 1000 | | **FPS** | 30 | | **State Dimensions** | 26 | | **Action Dimensions** | 26 | | **Camera Views** | 3 | | **Dataset Size** | 8.69 GB | ## Data Splits The dataset is organized into the following splits: - **Training**: Episodes 0:862 ## 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 1 chunk(s) of size 1000 ### Data Structure (Tree) ``` Cobot_Magic_twist_bottle_cap_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 | `-- ... (851 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 `-- 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