| --- |
| license: apache-2.0 |
| language: |
| - en |
| task_categories: |
| - robotics |
| tags: |
| - robotics |
| - lerobot |
| - RoboCOIN |
| - agilex |
| - aloha |
| - split-aloha |
| - bimanual |
| - manipulation |
| - teleoperation |
| configs: |
| - config_name: default |
| data_files: data/*/*.parquet |
| --- |
| |
| > Mirror of [RoboCOIN/Agilex_Split_Aloha_classification_of_tableware](https://www.modelscope.cn/datasets/RoboCOIN/Agilex_Split_Aloha_classification_of_tableware) from ModelScope. All credit to the original authors. Not an official release from them. License unchanged (apache-2.0). |
|
|
| # Agilex_Split_Aloha_classification_of_tableware |
| |
| ## Dataset Description |
| |
| This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot. |
| |
| ## Task Preview |
| |
| <video src="videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" controls width="640"></video> |
| |
| [View Video Directly](videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4) |
| |
| ### Overview |
| |
| - **Total Episodes:** 406 |
| - **Total Frames:** 347004 |
| - **FPS:** 30 |
| - **Dataset Size:** 13.12 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_front_rgb`, |
| `cam_left_wrist_rgb`, |
| `cam_right_wrist_rgb` |
|
|
| - **Camera Information:** cam_front_rgb; |
| cam_left_wrist_rgb; |
| cam_right_wrist_rgb |
|
|
| - **Scene:** `home` |
| - **Objects:** `table(unknown)`, |
| `tablecloth(unknown)`, |
| `bowl(unknown)`, |
| `plate(unknown)`, |
| `chopsticks(unknown)`, |
| `spoon(unknown)`, |
| `box(unknown)` |
|
|
| - **Task Description:** Place chopsticks, spoon, bowls, and plates into blue, grey, and white boxes with the gripper., Place chopsticks, spoon, bowls, and plates into blue, grey, and white boxes with the gripper., Place chopsticks, spoon, bowls, and plates into blue, grey, and white boxes with the gripper., Place chopsticks, spoon, bowls, and plates into blue, grey, and white boxes with the gripper., Place chopsticks, spoon, bowls, and plates into blue, grey, and white boxes with the gripper. |
|
|
| ### Primary Task Instruction |
| > Place chopsticks, spoon, bowls, and plates into blue, grey, and white boxes with the gripper., Place chopsticks, spoon, bowls, and plates into blue, grey, and white boxes with the gripper., Place chopsticks, spoon, bowls, and plates into blue, grey, and white boxes with the gripper., Place chopsticks, spoon, bowls, and plates into blue, grey, and white boxes with the gripper., Place chopsticks, spoon, bowls, and plates into blue, grey, and white boxes 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)` |
| - `tablecloth(unknown)` |
| - `bowl(unknown)` |
| - `plate(unknown)` |
| - `chopsticks(unknown)` |
| - `spoon(unknown)` |
| - `box(unknown)` |
|
|
| ## Task Descriptions |
|
|
| - **Standardized Task Description:** `Place chopsticks, spoon, bowls, and plates into blue, grey, and white boxes with the gripper., Place chopsticks, spoon, bowls, and plates into blue, grey, and white boxes with the gripper., Place chopsticks, spoon, bowls, and plates into blue, grey, and white boxes with the gripper., Place chopsticks, spoon, bowls, and plates into blue, grey, and white boxes with the gripper., Place chopsticks, spoon, bowls, and plates into blue, grey, and white boxes 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 22 distinct subtasks: |
|
|
| 1. **use the right arm to pick up the plate.** (Index: 0) |
| 2. **use the right arm to pick up a chopstick.** (Index: 1) |
| 3. **use the right arm to place the plate into the large storage box on the left.** (Index: 2) |
| 4. **use the right arm to place the noodle bowl into the large storage box on the left.** (Index: 3) |
| 5. **use the right arm to place a chopstick into the small storage box on the right.** (Index: 4) |
| 6. **use the left arm to place a chopstick into the small storage box on the right.** (Index: 5) |
| 7. **use the left arm to pick up the yellow noodle bowl on the left.** (Index: 6) |
| 8. **use the left arm to pick up a chopstick.** (Index: 7) |
| 9. **use the left arm to pick up the chopsticks.** (Index: 8) |
| 10. **use the left arm to place the soup spoon into the small storage box in the middle.** (Index: 9) |
| 11. **use the right arm to pick up the soup spoon in the middle.** (Index: 10) |
| 12. **use the right arm to pick up the chopsticks.** (Index: 11) |
| 13. **use the right arm to place the plate on the tray.** (Index: 12) |
| 14. **use the right arm to pick up the yellow noodle bowl.** (Index: 13) |
| 15. **use the left arm to pick up the soup spoon in the middle.** (Index: 14) |
| 16. **use the left arm to place the plate into the large storage box on the left.** (Index: 15) |
| 17. **use the left arm to place the chopsticks into the small storage box on the right.** (Index: 16) |
| 18. **use the left arm to pick up the plate.** (Index: 17) |
| 19. **use the left arm to place the noodle bowl into the large storage box on the left.** (Index: 18) |
| 20. **use the right arm to place the soup spoon into the small storage box in the middle.** (Index: 19) |
| 21. **use the right arm to place the chopsticks into the small storage box on the right.** (Index: 20) |
| 22. **null.** (Index: 21) |
|
|
| ### Atomic Actions |
| - `grasp` |
| - `pick` |
| - `place` |
|
|
| ## Hardware and Sensors |
|
|
| ### Sensors |
|
|
| - `cam_front_rgb` |
|
|
| - `cam_left_wrist_rgb` |
|
|
| - `cam_right_wrist_rgb` |
|
|
| ### Camera Information |
|
|
| - `cam_front_rgb`: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p |
| |
| - `cam_left_wrist_rgb`: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p |
| |
| - `cam_right_wrist_rgb`: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p |
| |
| ### Coordinate System |
| - **Definition:** `right-hand-frame` |
| |
| ### Dimensions & Units |
| - **Joint Rotation:** `radian` |
| |
| ## Dataset Statistics |
| |
| | Metric | Value | |
| |--------|-------| |
| | **Total Episodes** | 406 | |
| | **Total Frames** | 347004 | |
| | **Total Tasks** | 22 | |
| | **Total Videos** | 1218 | |
| | **Total Chunks** | 1 | |
| | **Chunk Size** | 1000 | |
| | **FPS** | 30 | |
| | **State Dimensions** | 14 | |
| | **Action Dimensions** | 14 | |
| | **Camera Views** | 3 | |
| | **Dataset Size** | 13.12 GB | |
| |
| ## Data Splits |
| |
| The dataset is organized into the following splits: |
| |
| - **Training**: Episodes 0:405 |
| |
| ## 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_front_rgb/episode_{id}.mp{id}` |
| - **Chunking**: Data is organized into 1 chunk(s) |
| of size 1000 |
|
|
| ### Data Structure (Tree) |
|
|
| ``` |
| Cobot_Magic_classification_of_tableware_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 |
| | `-- ... (394 more entries) |
| |-- meta |
| | |-- episodes.jsonl |
| | |-- episodes_stats.jsonl |
| | |-- info.json |
| | `-- tasks.jsonl |
| |-- videos |
| | `-- chunk-000 |
| | |-- observation.images.cam_front_rgb |
| | |-- observation.images.cam_left_wrist_rgb |
| | `-- observation.images.cam_right_wrist_rgb |
| `-- README.md |
| ``` |
|
|
| ## Camera Views |
|
|
| This dataset includes 3 camera views: `cam_front_rgb`, `cam_left_wrist_rgb`, `cam_right_wrist_rgb`. |
|
|
| ## Features (Full YAML) |
|
|
| ```yaml |
| observation.images.cam_front_rgb: |
| dtype: video |
| shape: |
| - 720 |
| - 1280 |
| - 3 |
| names: |
| - height |
| - width |
| - channels |
| info: |
| video.height: 720 |
| video.width: 1280 |
| 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: |
| - 720 |
| - 1280 |
| - 3 |
| names: |
| - height |
| - width |
| - channels |
| info: |
| video.height: 720 |
| video.width: 1280 |
| 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: |
| - 720 |
| - 1280 |
| - 3 |
| names: |
| - height |
| - width |
| - channels |
| info: |
| video.height: 720 |
| video.width: 1280 |
| 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: |
| - 14 |
| 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 |
| - 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 |
| action: |
| dtype: float32 |
| shape: |
| - 14 |
| 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 |
| - 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 |
| 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 |
|
|
