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- AIRBOT_MMK2_beauty_sponge_and_cake_to_place/.gitattributes +350 -0
- AIRBOT_MMK2_beauty_sponge_and_cake_to_place/README.md +305 -0
- AIRBOT_MMK2_beauty_sponge_and_cake_to_place/annotations/eef_acc_mag_annotation.jsonl +3 -0
- AIRBOT_MMK2_beauty_sponge_and_cake_to_place/annotations/eef_direction_annotation.jsonl +7 -0
- AIRBOT_MMK2_beauty_sponge_and_cake_to_place/annotations/eef_velocity_annotation.jsonl +3 -0
- AIRBOT_MMK2_beauty_sponge_and_cake_to_place/annotations/gripper_activity_annotation.jsonl +4 -0
- AIRBOT_MMK2_beauty_sponge_and_cake_to_place/annotations/gripper_mode_annotation.jsonl +3 -0
- AIRBOT_MMK2_beauty_sponge_and_cake_to_place/annotations/scene_annotations.jsonl +50 -0
- AIRBOT_MMK2_beauty_sponge_and_cake_to_place/annotations/subtask_annotations.jsonl +8 -0
- AIRBOT_MMK2_beauty_sponge_and_cake_to_place/data/chunk-000/episode_000000.parquet +3 -0
- AIRBOT_MMK2_beauty_sponge_and_cake_to_place/data/chunk-000/episode_000001.parquet +3 -0
- AIRBOT_MMK2_beauty_sponge_and_cake_to_place/data/chunk-000/episode_000002.parquet +3 -0
- AIRBOT_MMK2_beauty_sponge_and_cake_to_place/data/chunk-000/episode_000003.parquet +3 -0
- AIRBOT_MMK2_beauty_sponge_and_cake_to_place/data/chunk-000/episode_000004.parquet +3 -0
- AIRBOT_MMK2_beauty_sponge_and_cake_to_place/data/chunk-000/episode_000005.parquet +3 -0
- AIRBOT_MMK2_beauty_sponge_and_cake_to_place/data/chunk-000/episode_000006.parquet +3 -0
- AIRBOT_MMK2_beauty_sponge_and_cake_to_place/data/chunk-000/episode_000007.parquet +3 -0
- AIRBOT_MMK2_beauty_sponge_and_cake_to_place/data/chunk-000/episode_000008.parquet +3 -0
- AIRBOT_MMK2_beauty_sponge_and_cake_to_place/data/chunk-000/episode_000009.parquet +3 -0
- AIRBOT_MMK2_beauty_sponge_and_cake_to_place/data/chunk-000/episode_000010.parquet +3 -0
- AIRBOT_MMK2_beauty_sponge_and_cake_to_place/data/chunk-000/episode_000011.parquet +3 -0
- AIRBOT_MMK2_beauty_sponge_and_cake_to_place/data/chunk-000/episode_000012.parquet +3 -0
- AIRBOT_MMK2_beauty_sponge_and_cake_to_place/data/chunk-000/episode_000013.parquet +3 -0
- AIRBOT_MMK2_beauty_sponge_and_cake_to_place/data/chunk-000/episode_000014.parquet +3 -0
- AIRBOT_MMK2_beauty_sponge_and_cake_to_place/data/chunk-000/episode_000015.parquet +3 -0
- AIRBOT_MMK2_beauty_sponge_and_cake_to_place/data/chunk-000/episode_000016.parquet +3 -0
- AIRBOT_MMK2_beauty_sponge_and_cake_to_place/data/chunk-000/episode_000017.parquet +3 -0
- AIRBOT_MMK2_beauty_sponge_and_cake_to_place/data/chunk-000/episode_000018.parquet +3 -0
- AIRBOT_MMK2_beauty_sponge_and_cake_to_place/data/chunk-000/episode_000019.parquet +3 -0
- AIRBOT_MMK2_beauty_sponge_and_cake_to_place/data/chunk-000/episode_000020.parquet +3 -0
- AIRBOT_MMK2_beauty_sponge_and_cake_to_place/data/chunk-000/episode_000021.parquet +3 -0
- AIRBOT_MMK2_beauty_sponge_and_cake_to_place/data/chunk-000/episode_000022.parquet +3 -0
- AIRBOT_MMK2_beauty_sponge_and_cake_to_place/data/chunk-000/episode_000023.parquet +3 -0
- AIRBOT_MMK2_beauty_sponge_and_cake_to_place/data/chunk-000/episode_000024.parquet +3 -0
- AIRBOT_MMK2_beauty_sponge_and_cake_to_place/data/chunk-000/episode_000025.parquet +3 -0
- AIRBOT_MMK2_beauty_sponge_and_cake_to_place/data/chunk-000/episode_000026.parquet +3 -0
- AIRBOT_MMK2_beauty_sponge_and_cake_to_place/data/chunk-000/episode_000027.parquet +3 -0
- AIRBOT_MMK2_beauty_sponge_and_cake_to_place/data/chunk-000/episode_000028.parquet +3 -0
- AIRBOT_MMK2_beauty_sponge_and_cake_to_place/data/chunk-000/episode_000029.parquet +3 -0
- AIRBOT_MMK2_beauty_sponge_and_cake_to_place/data/chunk-000/episode_000030.parquet +3 -0
- AIRBOT_MMK2_beauty_sponge_and_cake_to_place/data/chunk-000/episode_000031.parquet +3 -0
- AIRBOT_MMK2_beauty_sponge_and_cake_to_place/data/chunk-000/episode_000032.parquet +3 -0
- AIRBOT_MMK2_beauty_sponge_and_cake_to_place/data/chunk-000/episode_000033.parquet +3 -0
- AIRBOT_MMK2_beauty_sponge_and_cake_to_place/data/chunk-000/episode_000034.parquet +3 -0
- AIRBOT_MMK2_beauty_sponge_and_cake_to_place/data/chunk-000/episode_000035.parquet +3 -0
- AIRBOT_MMK2_beauty_sponge_and_cake_to_place/data/chunk-000/episode_000036.parquet +3 -0
- AIRBOT_MMK2_beauty_sponge_and_cake_to_place/data/chunk-000/episode_000037.parquet +3 -0
- AIRBOT_MMK2_beauty_sponge_and_cake_to_place/data/chunk-000/episode_000038.parquet +3 -0
- AIRBOT_MMK2_beauty_sponge_and_cake_to_place/data/chunk-000/episode_000039.parquet +3 -0
- AIRBOT_MMK2_beauty_sponge_and_cake_to_place/data/chunk-000/episode_000040.parquet +3 -0
AIRBOT_MMK2_beauty_sponge_and_cake_to_place/.gitattributes
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videos/chunk-000/observation.images.cam_third_view/episode_000041.mp4 filter=lfs diff=lfs merge=lfs -text
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videos/chunk-000/observation.images.cam_third_view/episode_000039.mp4 filter=lfs diff=lfs merge=lfs -text
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videos/chunk-000/observation.images.cam_third_view/episode_000044.mp4 filter=lfs diff=lfs merge=lfs -text
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videos/chunk-000/observation.images.cam_third_view/episode_000046.mp4 filter=lfs diff=lfs merge=lfs -text
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videos/chunk-000/observation.images.cam_third_view/episode_000045.mp4 filter=lfs diff=lfs merge=lfs -text
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videos/chunk-000/observation.images.cam_third_view/episode_000047.mp4 filter=lfs diff=lfs merge=lfs -text
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annotations/gripper_mode_annotation.jsonl filter=lfs diff=lfs merge=lfs -text
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annotations/eef_velocity_annotation.jsonl filter=lfs diff=lfs merge=lfs -text
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videos/chunk-000/observation.images.cam_third_view/episode_000049.mp4 filter=lfs diff=lfs merge=lfs -text
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videos/chunk-000/observation.images.cam_third_view/episode_000043.mp4 filter=lfs diff=lfs merge=lfs -text
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annotations/eef_acc_mag_annotation.jsonl filter=lfs diff=lfs merge=lfs -text
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annotations/scene_annotations.jsonl filter=lfs diff=lfs merge=lfs -text
|
AIRBOT_MMK2_beauty_sponge_and_cake_to_place/README.md
ADDED
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| 1 |
+
---
|
| 2 |
+
license: apache-2.0
|
| 3 |
+
language:
|
| 4 |
+
- en
|
| 5 |
+
- zh
|
| 6 |
+
task_categories:
|
| 7 |
+
- robotics
|
| 8 |
+
tags:
|
| 9 |
+
- RoboCOIN
|
| 10 |
+
- LeRobot
|
| 11 |
+
frame_range: 1K-10K
|
| 12 |
+
configs:
|
| 13 |
+
- config_name: default
|
| 14 |
+
data_files: data/*/*.parquet
|
| 15 |
+
---
|
| 16 |
+
|
| 17 |
+
# AIRBOT_MMK2_beauty_sponge_and_cake_to_place
|
| 18 |
+
|
| 19 |
+
## 📋 Overview
|
| 20 |
+
|
| 21 |
+
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
|
| 22 |
+
|
| 23 |
+
**Robot Type:** `AIRBOT_MMK2`
|
| 24 |
+
| **Codebase Version:** `v2.1`
|
| 25 |
+
**End-Effector Type:** `five_finger_hand`
|
| 26 |
+
|
| 27 |
+
## 🏠 Scene Types
|
| 28 |
+
|
| 29 |
+
This dataset covers the following scene types:
|
| 30 |
+
- `home`
|
| 31 |
+
|
| 32 |
+
|
| 33 |
+
## 🤖 Atomic Actions
|
| 34 |
+
|
| 35 |
+
This dataset includes the following atomic actions:
|
| 36 |
+
- `grasp`
|
| 37 |
+
- `pick`
|
| 38 |
+
- `place`
|
| 39 |
+
|
| 40 |
+
|
| 41 |
+
## 📊 Dataset Statistics
|
| 42 |
+
|
| 43 |
+
| Metric | Value |
|
| 44 |
+
|--------|-------|
|
| 45 |
+
| **Total Episodes** | 50 |
|
| 46 |
+
| **Total Frames** | 8096 |
|
| 47 |
+
| **Total Tasks** | 1 |
|
| 48 |
+
| **Total Videos** | 200 |
|
| 49 |
+
| **Total Chunks** | 1 |
|
| 50 |
+
| **Chunk Size** | 1000 |
|
| 51 |
+
| **FPS** | 30 |
|
| 52 |
+
| **Dataset Size** | 394.9MB |
|
| 53 |
+
|
| 54 |
+
|
| 55 |
+
## 👥 Authors
|
| 56 |
+
|
| 57 |
+
### Contributors
|
| 58 |
+
This dataset is contributed by:
|
| 59 |
+
- [RoboCOIN](https://flagopen.github.io/RoboCOIN/) - RoboCOIN Team
|
| 60 |
+
|
| 61 |
+
|
| 62 |
+
## 🔗 Links
|
| 63 |
+
|
| 64 |
+
- **🏠 Homepage:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/)
|
| 65 |
+
- **📄 Paper:** [https://arxiv.org/abs/2511.17441](https://arxiv.org/abs/2511.17441)
|
| 66 |
+
- **💻 Repository:** [https://github.com/FlagOpen/RoboCOIN](https://github.com/FlagOpen/RoboCOIN)
|
| 67 |
+
- **🌐 Project Page:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/)
|
| 68 |
+
- **🐛 Issues:** [https://github.com/FlagOpen/RoboCOIN/issues](https://github.com/FlagOpen/RoboCOIN/issues)
|
| 69 |
+
- **📜 License:** apache-2.0
|
| 70 |
+
|
| 71 |
+
## 🏷️ Dataset Tags
|
| 72 |
+
|
| 73 |
+
- `RoboCOIN`
|
| 74 |
+
- `LeRobot`
|
| 75 |
+
|
| 76 |
+
|
| 77 |
+
## 🎯 Task Descriptions
|
| 78 |
+
|
| 79 |
+
### Primary Tasks
|
| 80 |
+
Take the bullet out of the plate with one hand and place it on the table, then pick up the cake on the table with your other hand and put it on the plate.
|
| 81 |
+
|
| 82 |
+
### Sub-Tasks
|
| 83 |
+
This dataset includes 8 distinct subtasks:
|
| 84 |
+
|
| 85 |
+
1. **Abnormal**
|
| 86 |
+
2. **End**
|
| 87 |
+
3. **Grasp the bullet into the plate with the left gripper**
|
| 88 |
+
4. **Grasp the cake on the table with the right gripper**
|
| 89 |
+
5. **null**
|
| 90 |
+
6. **Place the bullet on the table with the left gripper**
|
| 91 |
+
7. **Place the cake into the plate with the right gripper**
|
| 92 |
+
8. **Static**
|
| 93 |
+
|
| 94 |
+
|
| 95 |
+
## 🎥 Camera Views
|
| 96 |
+
|
| 97 |
+
This dataset includes 4 camera views.
|
| 98 |
+
|
| 99 |
+
## 🏷️ Available Annotations
|
| 100 |
+
|
| 101 |
+
This dataset includes rich annotations to support diverse learning approaches:
|
| 102 |
+
|
| 103 |
+
### Subtask Annotations
|
| 104 |
+
- **Subtask Segmentation**: Fine-grained subtask segmentation and labeling
|
| 105 |
+
### Scene Annotations
|
| 106 |
+
- **Scene-level Descriptions**: Semantic scene classifications and descriptions
|
| 107 |
+
### End-Effector Annotations
|
| 108 |
+
- **Direction**: Movement direction classifications for robot end-effectors
|
| 109 |
+
- **Velocity**: Velocity magnitude categorizations during manipulation
|
| 110 |
+
- **Acceleration**: Acceleration magnitude classifications for motion analysis
|
| 111 |
+
|
| 112 |
+
|
| 113 |
+
### Gripper Annotations
|
| 114 |
+
- **Gripper Mode**: Open/close state annotations for gripper control
|
| 115 |
+
- **Gripper Activity**: Activity state classifications (active/inactive)
|
| 116 |
+
|
| 117 |
+
|
| 118 |
+
### Additional Features
|
| 119 |
+
- **End-Effector Simulation Pose**: 6D pose information for end-effectors in simulation space
|
| 120 |
+
- Available for both state and action
|
| 121 |
+
- **Gripper Opening Scale**: Continuous gripper opening measurements
|
| 122 |
+
- Available for both state and action
|
| 123 |
+
|
| 124 |
+
|
| 125 |
+
## 📂 Data Splits
|
| 126 |
+
|
| 127 |
+
The dataset is organized into the following splits:
|
| 128 |
+
|
| 129 |
+
- **Training**: Episodes 0:49
|
| 130 |
+
|
| 131 |
+
|
| 132 |
+
## 📁 Dataset Structure
|
| 133 |
+
|
| 134 |
+
This dataset follows the LeRobot format and contains the following components:
|
| 135 |
+
|
| 136 |
+
### Data Files
|
| 137 |
+
- **Videos**: Compressed video files containing RGB camera observations
|
| 138 |
+
- **State Data**: Robot joint positions, velocities, and other state information
|
| 139 |
+
- **Action Data**: Robot action commands and trajectories
|
| 140 |
+
- **Metadata**: Episode metadata, timestamps, and annotations
|
| 141 |
+
|
| 142 |
+
### File Organization
|
| 143 |
+
- **Data Path Pattern**: `data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet`
|
| 144 |
+
- **Video Path Pattern**: `videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4`
|
| 145 |
+
- **Chunking**: Data is organized into 1 chunk(s)
|
| 146 |
+
of size 1000
|
| 147 |
+
|
| 148 |
+
|
| 149 |
+
### Features Schema
|
| 150 |
+
|
| 151 |
+
The dataset includes the following features:
|
| 152 |
+
|
| 153 |
+
#### Visual Observations
|
| 154 |
+
- **observation.images.cam_high_rgb**: video
|
| 155 |
+
- FPS: 30
|
| 156 |
+
- Codec: av1- **observation.images.cam_left_wrist_rgb**: video
|
| 157 |
+
- FPS: 30
|
| 158 |
+
- Codec: av1- **observation.images.cam_right_wrist_rgb**: video
|
| 159 |
+
- FPS: 30
|
| 160 |
+
- Codec: av1- **observation.images.cam_third_view**: video
|
| 161 |
+
- FPS: 30
|
| 162 |
+
- Codec: av1
|
| 163 |
+
|
| 164 |
+
#### State and Action- **observation.state**: float32- **action**: float32
|
| 165 |
+
|
| 166 |
+
#### Temporal Information
|
| 167 |
+
- **timestamp**: float32
|
| 168 |
+
- **frame_index**: int64
|
| 169 |
+
- **episode_index**: int64
|
| 170 |
+
- **index**: int64
|
| 171 |
+
- **task_index**: int64
|
| 172 |
+
|
| 173 |
+
|
| 174 |
+
#### Annotations
|
| 175 |
+
- **subtask_annotation**: int32
|
| 176 |
+
- **scene_annotation**: int32
|
| 177 |
+
|
| 178 |
+
|
| 179 |
+
#### Motion Features
|
| 180 |
+
- **eef_sim_pose_state**: float32
|
| 181 |
+
- Dimensions: 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
|
| 182 |
+
- **eef_sim_pose_action**: float32
|
| 183 |
+
- Dimensions: 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
|
| 184 |
+
- **eef_direction_state**: int32
|
| 185 |
+
- Dimensions: left_eef_direction, right_eef_direction
|
| 186 |
+
- **eef_direction_action**: int32
|
| 187 |
+
- Dimensions: left_eef_direction, right_eef_direction
|
| 188 |
+
- **eef_velocity_state**: int32
|
| 189 |
+
- Dimensions: left_eef_velocity, right_eef_velocity
|
| 190 |
+
- **eef_velocity_action**: int32
|
| 191 |
+
- Dimensions: left_eef_velocity, right_eef_velocity
|
| 192 |
+
- **eef_acc_mag_state**: int32
|
| 193 |
+
- Dimensions: left_eef_acc_mag, right_eef_acc_mag
|
| 194 |
+
- **eef_acc_mag_action**: int32
|
| 195 |
+
- Dimensions: left_eef_acc_mag, right_eef_acc_mag
|
| 196 |
+
|
| 197 |
+
|
| 198 |
+
#### Gripper Features
|
| 199 |
+
|
| 200 |
+
|
| 201 |
+
### Meta Information
|
| 202 |
+
|
| 203 |
+
The complete dataset metadata is available in [meta/info.json](meta/info.json):
|
| 204 |
+
|
| 205 |
+
```json
|
| 206 |
+
{"codebase_version": "v2.1", "robot_type": "discover_robotics_aitbot_mmk2", "total_episodes": 50, "total_frames": 8096, "total_tasks": 1, "total_videos": 200, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": {"train": "0:49"}, "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", "features": {"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.images.cam_third_view": {"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": [36], "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", "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", "left_hand_joint_1_rad", "left_hand_joint_2_rad", "left_hand_joint_3_rad", "left_hand_joint_4_rad", "left_hand_joint_5_rad", "left_hand_joint_6_rad", "left_hand_joint_7_rad", "left_hand_joint_8_rad", "left_hand_joint_9_rad", "left_hand_joint_10_rad", "left_hand_joint_11_rad", "left_hand_joint_12_rad", "right_hand_joint_1_rad", "right_hand_joint_2_rad", "right_hand_joint_3_rad", "right_hand_joint_4_rad", "right_hand_joint_5_rad", "right_hand_joint_6_rad", "right_hand_joint_7_rad", "right_hand_joint_8_rad", "right_hand_joint_9_rad", "right_hand_joint_10_rad", "right_hand_joint_11_rad", "right_hand_joint_12_rad"]}, "action": {"dtype": "float32", "shape": [36], "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", "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", "left_hand_joint_1_rad", "left_hand_joint_2_rad", "left_hand_joint_3_rad", "left_hand_joint_4_rad", "left_hand_joint_5_rad", "left_hand_joint_6_rad", "left_hand_joint_7_rad", "left_hand_joint_8_rad", "left_hand_joint_9_rad", "left_hand_joint_10_rad", "left_hand_joint_11_rad", "left_hand_joint_12_rad", "right_hand_joint_1_rad", "right_hand_joint_2_rad", "right_hand_joint_3_rad", "right_hand_joint_4_rad", "right_hand_joint_5_rad", "right_hand_joint_6_rad", "right_hand_joint_7_rad", "right_hand_joint_8_rad", "right_hand_joint_9_rad", "right_hand_joint_10_rad", "right_hand_joint_11_rad", "right_hand_joint_12_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]}}}
|
| 207 |
+
```
|
| 208 |
+
|
| 209 |
+
### Directory Structure
|
| 210 |
+
|
| 211 |
+
The dataset is organized as follows (showing leaf directories with first 5 files only):
|
| 212 |
+
|
| 213 |
+
```
|
| 214 |
+
AIRBOT_MMK2_beauty_sponge_and_cake_to_place_qced_hardlink/
|
| 215 |
+
├── annotations/
|
| 216 |
+
│ ├── eef_acc_mag_annotation.jsonl
|
| 217 |
+
│ ├── eef_direction_annotation.jsonl
|
| 218 |
+
│ ├── eef_velocity_annotation.jsonl
|
| 219 |
+
│ ├── gripper_activity_annotation.jsonl
|
| 220 |
+
│ ├── gripper_mode_annotation.jsonl
|
| 221 |
+
│ └── (...)
|
| 222 |
+
├── data/
|
| 223 |
+
│ └── chunk-000/
|
| 224 |
+
│ ├── episode_000000.parquet
|
| 225 |
+
│ ├── episode_000001.parquet
|
| 226 |
+
│ ├── episode_000002.parquet
|
| 227 |
+
│ ├── episode_000003.parquet
|
| 228 |
+
│ ├── episode_000004.parquet
|
| 229 |
+
│ └── (...)
|
| 230 |
+
├── meta/
|
| 231 |
+
│ ├── episodes.jsonl
|
| 232 |
+
│ ├── episodes_stats.jsonl
|
| 233 |
+
│ ├── info.json
|
| 234 |
+
│ └── tasks.jsonl
|
| 235 |
+
└── videos/
|
| 236 |
+
└── chunk-000/
|
| 237 |
+
├── observation.images.cam_high_rgb/
|
| 238 |
+
│ ├── episode_000000.mp4
|
| 239 |
+
│ ├── episode_000001.mp4
|
| 240 |
+
│ ├── episode_000002.mp4
|
| 241 |
+
│ ├── episode_000003.mp4
|
| 242 |
+
│ ├── episode_000004.mp4
|
| 243 |
+
│ └── (...)
|
| 244 |
+
├── observation.images.cam_left_wrist_rgb/
|
| 245 |
+
│ ├── episode_000000.mp4
|
| 246 |
+
│ ├── episode_000001.mp4
|
| 247 |
+
│ ├── episode_000002.mp4
|
| 248 |
+
│ ├── episode_000003.mp4
|
| 249 |
+
│ ├── episode_000004.mp4
|
| 250 |
+
│ └── (...)
|
| 251 |
+
├── observation.images.cam_right_wrist_rgb/
|
| 252 |
+
│ ├── episode_000000.mp4
|
| 253 |
+
│ ├── episode_000001.mp4
|
| 254 |
+
│ ├── episode_000002.mp4
|
| 255 |
+
│ ├── episode_000003.mp4
|
| 256 |
+
│ ├── episode_000004.mp4
|
| 257 |
+
│ └── (...)
|
| 258 |
+
└── observation.images.cam_third_view/
|
| 259 |
+
├── episode_000000.mp4
|
| 260 |
+
├── episode_000001.mp4
|
| 261 |
+
├── episode_000002.mp4
|
| 262 |
+
├── episode_000003.mp4
|
| 263 |
+
├── episode_000004.mp4
|
| 264 |
+
└── (...)
|
| 265 |
+
```
|
| 266 |
+
|
| 267 |
+
|
| 268 |
+
## 📞 Contact and Support
|
| 269 |
+
|
| 270 |
+
For questions, issues, or feedback regarding this dataset, please contact:
|
| 271 |
+
- **Email:** None
|
| 272 |
+
For questions, issues, or feedback regarding this dataset, please contact us.
|
| 273 |
+
### Support
|
| 274 |
+
For technical support, please open an issue on our GitHub repository.
|
| 275 |
+
|
| 276 |
+
## 📄 License
|
| 277 |
+
|
| 278 |
+
This dataset is released under the **apache-2.0** license.
|
| 279 |
+
|
| 280 |
+
Please refer to the LICENSE file for full license terms and conditions.
|
| 281 |
+
|
| 282 |
+
|
| 283 |
+
## 📚 Citation
|
| 284 |
+
|
| 285 |
+
If you use this dataset in your research, please cite:
|
| 286 |
+
|
| 287 |
+
```bibtex
|
| 288 |
+
@article{robocoin,
|
| 289 |
+
title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},
|
| 290 |
+
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},
|
| 291 |
+
journal={arXiv preprint arXiv:2511.17441},
|
| 292 |
+
url = {https://arxiv.org/abs/2511.17441},
|
| 293 |
+
year={2025}
|
| 294 |
+
}
|
| 295 |
+
```
|
| 296 |
+
|
| 297 |
+
### Additional References
|
| 298 |
+
|
| 299 |
+
If you use this dataset, please also consider citing:
|
| 300 |
+
- LeRobot Framework: https://github.com/huggingface/lerobot
|
| 301 |
+
|
| 302 |
+
## 📌 Version Information
|
| 303 |
+
|
| 304 |
+
## Version History
|
| 305 |
+
- v1.0.0 (2025-11): Initial release
|
AIRBOT_MMK2_beauty_sponge_and_cake_to_place/annotations/eef_acc_mag_annotation.jsonl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"eef_acc_mag_index": 0, "eef_acc_mag": "constant"}
|
| 2 |
+
{"eef_acc_mag_index": 1, "eef_acc_mag": "accelerating"}
|
| 3 |
+
{"eef_acc_mag_index": 2, "eef_acc_mag": "decelerating"}
|
AIRBOT_MMK2_beauty_sponge_and_cake_to_place/annotations/eef_direction_annotation.jsonl
ADDED
|
@@ -0,0 +1,7 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"eef_direction_index": 0, "eef_direction": "forward"}
|
| 2 |
+
{"eef_direction_index": 1, "eef_direction": "backward"}
|
| 3 |
+
{"eef_direction_index": 2, "eef_direction": "left"}
|
| 4 |
+
{"eef_direction_index": 3, "eef_direction": "right"}
|
| 5 |
+
{"eef_direction_index": 4, "eef_direction": "up"}
|
| 6 |
+
{"eef_direction_index": 5, "eef_direction": "down"}
|
| 7 |
+
{"eef_direction_index": 6, "eef_direction": "still"}
|
AIRBOT_MMK2_beauty_sponge_and_cake_to_place/annotations/eef_velocity_annotation.jsonl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"eef_velocity_index": 0, "eef_velocity": "still"}
|
| 2 |
+
{"eef_velocity_index": 1, "eef_velocity": "slow"}
|
| 3 |
+
{"eef_velocity_index": 2, "eef_velocity": "fast"}
|
AIRBOT_MMK2_beauty_sponge_and_cake_to_place/annotations/gripper_activity_annotation.jsonl
ADDED
|
@@ -0,0 +1,4 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"gripper_activity_index": 0, "gripper_activity": "openning"}
|
| 2 |
+
{"gripper_activity_index": 1, "gripper_activity": "closing"}
|
| 3 |
+
{"gripper_activity_index": 2, "gripper_activity": "holding"}
|
| 4 |
+
{"gripper_activity_index": 3, "gripper_activity": "unknown"}
|
AIRBOT_MMK2_beauty_sponge_and_cake_to_place/annotations/gripper_mode_annotation.jsonl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"gripper_mode_index": 0, "gripper_mode": "open"}
|
| 2 |
+
{"gripper_mode_index": 1, "gripper_mode": "closed"}
|
| 3 |
+
{"gripper_mode_index": 2, "gripper_mode": "unknown"}
|
AIRBOT_MMK2_beauty_sponge_and_cake_to_place/annotations/scene_annotations.jsonl
ADDED
|
@@ -0,0 +1,50 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"scene_index": 0, "scene": "The green cake is on the right, the white plate is in front, and the golden BB bullet is in frontright."}
|
| 2 |
+
{"scene_index": 1, "scene": "The green cake is on the right, the white plate is in front, golden BB bullets are also positioned with one on the right and another in front."}
|
| 3 |
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{"scene_index": 2, "scene": "The green cake is on the right, the white plate is in front, and the golden BB bullet is in front right."}
|
| 4 |
+
{"scene_index": 3, "scene": "The white plate is at the frontright, the green cake is to the right, and the golden BB bullet is in front."}
|
| 5 |
+
{"scene_index": 4, "scene": "The green cake is at the back right, the white plate is in front, there are two golden BB bullets—one in the center and one in the front left."}
|
| 6 |
+
{"scene_index": 5, "scene": "The green cake is on the right side, the white plate is in front right, and the golden BB bullet is at the front."}
|
| 7 |
+
{"scene_index": 6, "scene": "The green cake is on the right, the white plate and golden BB bullet are both in front."}
|
| 8 |
+
{"scene_index": 7, "scene": "The green cake is on the right, the white plate and golden BB bullet are both in front."}
|
| 9 |
+
{"scene_index": 8, "scene": "The white plate is at the front, the golden BB bullet is also at the front, and the green cake is on the right."}
|
| 10 |
+
{"scene_index": 9, "scene": "The green cake is on the right side, the white plate is in front of it on the right, and the golden BB bullet is centered between them."}
|
| 11 |
+
{"scene_index": 10, "scene": "The green cake is on the right, the white plate and golden BB bullet are in front."}
|
| 12 |
+
{"scene_index": 11, "scene": "The green cake is on the right side, a white plate is placed in front of it at the front right, and a golden BB bullet is positioned directly in front."}
|
| 13 |
+
{"scene_index": 12, "scene": "The green cake is on the right, the white plate and golden BB bullet are both in front."}
|
| 14 |
+
{"scene_index": 13, "scene": "The green cake is on the right, with a white plate in front of it. Two golden BB bullets are placed in front as well."}
|
| 15 |
+
{"scene_index": 14, "scene": "The green cake is on the right, the white plate is in front right, and the golden BB bullet is at the front."}
|
| 16 |
+
{"scene_index": 15, "scene": "The green cake is on the right, a white plate and a golden BB bullet are both in the frontright area."}
|
| 17 |
+
{"scene_index": 16, "scene": "The green cake is on the right, the white plate and golden BB bullet are in front."}
|
| 18 |
+
{"scene_index": 17, "scene": "The white plate is positioned at the front right, with a green cake placed to its right, and a golden BB bullet located in front of it."}
|
| 19 |
+
{"scene_index": 18, "scene": "The white plate is positioned at the front, the green cake is located on the right side, and the golden BB bullet is situated in the frontright area."}
|
| 20 |
+
{"scene_index": 19, "scene": "The green cake is on the right, the white plate and golden BB bullet are both in front."}
|
| 21 |
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{"scene_index": 20, "scene": "The green cake is on the right, the white plate and golden BB bullet are both in front."}
|
| 22 |
+
{"scene_index": 21, "scene": "The green cake is on the right, the white plate and golden BB bullet are both in front."}
|
| 23 |
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{"scene_index": 22, "scene": "The green cake is on the right, the white plate is in frontright, and the golden BB bullet is in front."}
|
| 24 |
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{"scene_index": 23, "scene": "The green cake is at the back right, the white plate is at the front right, and the golden BB bullet is in front of both."}
|
| 25 |
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{"scene_index": 24, "scene": "The green cake is located at the back right, the white plate is in front right, and the golden BB bullet is positioned at the front."}
|
| 26 |
+
{"scene_index": 25, "scene": "The white plate is positioned at front right, with the golden BB bullet also at front right, and the green cake is located to the right side."}
|
| 27 |
+
{"scene_index": 26, "scene": "The green cake is at the back right, while the white plate and golden BB bullet are both in front of it."}
|
| 28 |
+
{"scene_index": 27, "scene": "The green cake is on the right, the white plate and golden BB bullet are in front."}
|
| 29 |
+
{"scene_index": 28, "scene": "The white plate is at the front, the green cake is on the right, and the golden BB bullet is also at the front."}
|
| 30 |
+
{"scene_index": 29, "scene": "The white plate is at the front, the green cake is on the right, and the golden BB bullet is also in the front."}
|
| 31 |
+
{"scene_index": 30, "scene": "The white plate is at the front, the golden BB bullet is also in front, and the green cake is on the right."}
|
| 32 |
+
{"scene_index": 31, "scene": "The white plate is at the front, the green cake is on the right, and the golden BB bullet is in the front right."}
|
| 33 |
+
{"scene_index": 32, "scene": "The white plate is located at the front right, the green cake is on the right, and the golden BB bullet is in the front."}
|
| 34 |
+
{"scene_index": 33, "scene": "The green cake is on the right, the white plate and golden BB bullet are both in front."}
|
| 35 |
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{"scene_index": 34, "scene": "The green cake is on the right, the white plate is in frontright, and the golden BB bullet is in front."}
|
| 36 |
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{"scene_index": 35, "scene": "The white plate is at the front, the green cake is at the back right, and the golden BB bullet is also at the front."}
|
| 37 |
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{"scene_index": 36, "scene": "The green cake is on the right, a white plate is in front, and a golden BB bullet is also in front."}
|
| 38 |
+
{"scene_index": 37, "scene": "The white plate is at the front, the green cake is on the right, and the golden BB bullet is also at the front."}
|
| 39 |
+
{"scene_index": 38, "scene": "The green cake is on the right, a white plate is in front, and a golden BB bullet is also in front."}
|
| 40 |
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{"scene_index": 39, "scene": "The green cake is on the right, the white plate is in front with a golden BB bullet also in front."}
|
| 41 |
+
{"scene_index": 40, "scene": "The green cake is on the right, the white plate is in frontright, and the golden BB bullet is in front."}
|
| 42 |
+
{"scene_index": 41, "scene": " The white plate is at the front. The green cake is on the right. The golden BB bullet is in front right."}
|
| 43 |
+
{"scene_index": 42, "scene": "The green cake is on the right, the white plate and golden BB bullet are both in front."}
|
| 44 |
+
{"scene_index": 43, "scene": "The white plate is at the front, the green cake is on the right, and the golden BB bullet is also in front."}
|
| 45 |
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{"scene_index": 44, "scene": "The green cake is on the right side, a white plate is in front of it on the right, and two golden BB bullets are positioned in front, one slightly to the left of the other."}
|
| 46 |
+
{"scene_index": 45, "scene": "The green cake is at the back right, while the white plate is in front, and the golden BB bullet is at the front right."}
|
| 47 |
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{"scene_index": 46, "scene": "The green cake is on the right, the white plate is in front with a golden BB bullet also in front."}
|
| 48 |
+
{"scene_index": 47, "scene": "The green cake is on the right, the white plate is in frontright, and the golden BB bullet is in front."}
|
| 49 |
+
{"scene_index": 48, "scene": "The green cake is on the right, the white plate and golden BB bullet are both in front."}
|
| 50 |
+
{"scene_index": 49, "scene": "The green cake is on the right, the white plate and golden BB bullet are in front."}
|
AIRBOT_MMK2_beauty_sponge_and_cake_to_place/annotations/subtask_annotations.jsonl
ADDED
|
@@ -0,0 +1,8 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"subtask_index": 0, "subtask": "Grasp the cake on the table with the right gripper"}
|
| 2 |
+
{"subtask_index": 1, "subtask": "End"}
|
| 3 |
+
{"subtask_index": 2, "subtask": "Abnormal"}
|
| 4 |
+
{"subtask_index": 3, "subtask": "Place the cake into the plate with the right gripper"}
|
| 5 |
+
{"subtask_index": 4, "subtask": "Place the bullet on the table with the left gripper"}
|
| 6 |
+
{"subtask_index": 5, "subtask": "Static"}
|
| 7 |
+
{"subtask_index": 6, "subtask": "Grasp the bullet into the plate with the left gripper"}
|
| 8 |
+
{"subtask_index": 7, "subtask": "null"}
|
AIRBOT_MMK2_beauty_sponge_and_cake_to_place/data/chunk-000/episode_000000.parquet
ADDED
|
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