README.md

---
license: apache-2.0
---

> Mirror of [RoboCOIN/Agilex_Split_Aloha_pot_storage_steamer](https://www.modelscope.cn/datasets/RoboCOIN/Agilex_Split_Aloha_pot_storage_steamer) from ModelScope. All credit to the original authors. Not an official release from them. License unchanged (apache-2.0).

# Agilex_Split_Aloha_pot_storage_steamer

## 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:** 590
- **Total Frames:** 478978
- **FPS:** 30
- **Dataset Size:** 19.67 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)`, 
`steamer(unknown)`, 
`tablecloth(unknown)`, 
`pot(unknown)`, 
`lid(unknown)`

- **Task Description:** Place the steamer into the pot with the gripper. Place the lid on the steamer with the gripper., Place the steamer into the pot with the gripper. Place the lid on the steamer with the gripper., Place the steamer into the pot with the gripper. Place the lid on the steamer with the gripper., Place the steamer into the pot with the gripper. Place the lid on the steamer with the gripper., Place the steamer into the pot with the gripper. Place the lid on the steamer with the gripper., Place the steamer into the pot with the gripper. Place the lid on the steamer with the gripper.


### Primary Task Instruction
> Place the steamer into the pot with the gripper. Place the lid on the steamer with the gripper., Place the steamer into the pot with the gripper. Place the lid on the steamer with the gripper., Place the steamer into the pot with the gripper. Place the lid on the steamer with the gripper., Place the steamer into the pot with the gripper. Place the lid on the steamer with the gripper., Place the steamer into the pot with the gripper. Place the lid on the steamer with the gripper., Place the steamer into the pot with the gripper. Place the lid on the steamer 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)`
- `steamer(unknown)`
- `tablecloth(unknown)`
- `pot(unknown)`
- `lid(unknown)`


## Task Descriptions

- **Standardized Task Description:** `Place the steamer into the pot with the gripper. Place the lid on the steamer with the gripper., Place the steamer into the pot with the gripper. Place the lid on the steamer with the gripper., Place the steamer into the pot with the gripper. Place the lid on the steamer with the gripper., Place the steamer into the pot with the gripper. Place the lid on the steamer with the gripper., Place the steamer into the pot with the gripper. Place the lid on the steamer with the gripper., Place the steamer into the pot with the gripper. Place the lid on the steamer 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 9 distinct subtasks:

1. **use the left arm to place the steamer lid on the steamer.** (Index: 0)
2. **use the right arm to lift the steamer closest to it.** (Index: 1)
3. **use the left arm to place the steamer into the iron steamer pot in the middle.** (Index: 2)
4. **use the right arm to lift the lid of the steamer.** (Index: 3)
5. **use the right arm to place the steamer lid on the steamer.** (Index: 4)
6. **use the left arm to lift the lid of the steamer.** (Index: 5)
7. **use the right arm to place the steamer into the iron steamer pot in the middle.** (Index: 6)
8. **use the left arm to lift the steamer closest to it.** (Index: 7)
9. **null.** (Index: 8)


### 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** | 590 |
| **Total Frames** | 478978 |
| **Total Tasks** | 9 |
| **Total Videos** | 1770 |
| **Total Chunks** | 1 |
| **Chunk Size** | 1000 |
| **FPS** | 30 |
| **State Dimensions** | 14 |
| **Action Dimensions** | 14 |
| **Camera Views** | 3 |
| **Dataset Size** | 19.67 GB |


## Data Splits

The dataset is organized into the following splits:

- **Training**: Episodes 0:589


## 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_pot_storage_steamer_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
|       `-- ... (578 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