RoboCOIN
Collection
RoboCOIN
•
408 items
•
Updated
•
2
Search is not available for this dataset
observation.state
listlengths 118
118
| action
listlengths 54
54
| timestamp
float32 0
93.2
| frame_index
int64 0
2.8k
| episode_index
int64 0
489
| index
int64 0
708k
| task_index
int64 0
0
| subtask_annotation
listlengths 5
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| scene_annotation
listlengths 1
1
| eef_direction_state
listlengths 2
2
| eef_velocity_state
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| eef_acc_mag_state
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| eef_direction_action
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| eef_velocity_action
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| eef_acc_mag_action
listlengths 2
2
| eef_sim_pose_state
listlengths 12
12
| eef_sim_pose_action
listlengths 12
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End of preview. Expand
in Data Studio
leju_robot_moving_parts_b
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: leju_robot
| Codebase Version: v2.1
End-Effector Type: five_finger_hand
🏠 Scene Types
This dataset covers the following scene types:
home
🤖 Atomic Actions
This dataset includes the following atomic actions:
graspplacepick
📊 Dataset Statistics
| Metric | Value |
|---|---|
| Total Episodes | 490 |
| Total Frames | 708011 |
| Total Tasks | 1 |
| Total Videos | 1470 |
| Total Chunks | 1 |
| Chunk Size | 1000 |
| FPS | 30 |
| Dataset Size | 43.3GB |
👥 Authors
Contributors
This dataset is contributed by:
- RoboCOIN - RoboCOIN Team
🔗 Links
- 🏠 Homepage: https://flagopen.github.io/RoboCOIN/
- 📄 Paper: https://arxiv.org/abs/2511.17441
- 💻 Repository: https://github.com/FlagOpen/RoboCOIN
- 🌐 Project Page: https://flagopen.github.io/RoboCOIN/
- 🐛 Issues: https://github.com/FlagOpen/RoboCOIN/issues
- 📜 License: apache-2.0
🏷️ Dataset Tags
RoboCOINLeRobot
🎯 Task Descriptions
Primary Tasks
take the parts from the cabinet and place them on the table.
Sub-Tasks
This dataset includes 10 distinct subtasks:
- End
- Grasp the white part with left gripper
- Insert the small parts into the corresponding holes on the workbench.
- Move the small parts to the workbench.
- Move to the initial position of the workbench.
- Move to the table behind body
- null
- Pick up small parts from the shelf.
- Place the white part on the table with left gripper
- Take small components from the rack.
🎥 Camera Views
This dataset includes 3 camera views.
🏷️ Available Annotations
This dataset includes rich annotations to support diverse learning approaches:
Subtask Annotations
- Subtask Segmentation: Fine-grained subtask segmentation and labeling
Scene Annotations
- Scene-level Descriptions: Semantic scene classifications and descriptions
End-Effector Annotations
- Direction: Movement direction classifications for robot end-effectors
- Velocity: Velocity magnitude categorizations during manipulation
- Acceleration: Acceleration magnitude classifications for motion analysis
Gripper Annotations
- Gripper Mode: Open/close state annotations for gripper control
- Gripper Activity: Activity state classifications (active/inactive)
Additional Features
- End-Effector Simulation Pose: 6D pose information for end-effectors in simulation space
- Available for both state and action
- Gripper Opening Scale: Continuous gripper opening measurements
- Available for both state and action
📂 Data Splits
The dataset is organized into the following splits:
- Training: Episodes 0:489
📁 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-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - Video Path Pattern:
videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - Chunking: Data is organized into 1 chunk(s) of size 1000
Features Schema
The dataset includes the following features:
Visual Observations
- observation.images.camera_head_rgb: video
- FPS: 30
- Codec: av1- observation.images.camera_left_wrist_rgb: video
- FPS: 30
- Codec: av1- observation.images.camera_right_wrist_rgb: video
- FPS: 30
- Codec: av1
State and Action- observation.state: float32- action: float32
Temporal Information
- timestamp: float32
- frame_index: int64
- episode_index: int64
- index: int64
- task_index: int64
Annotations
- subtask_annotation: int32
- scene_annotation: int32
Motion Features
- eef_sim_pose_state: float32
- 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
- eef_sim_pose_action: float32
- 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
- eef_direction_state: int32
- Dimensions: left_eef_direction, right_eef_direction
- eef_direction_action: int32
- Dimensions: left_eef_direction, right_eef_direction
- eef_velocity_state: int32
- Dimensions: left_eef_velocity, right_eef_velocity
- eef_velocity_action: int32
- Dimensions: left_eef_velocity, right_eef_velocity
- eef_acc_mag_state: int32
- Dimensions: left_eef_acc_mag, right_eef_acc_mag
- eef_acc_mag_action: int32
- Dimensions: left_eef_acc_mag, right_eef_acc_mag
Gripper Features
Meta Information
The complete dataset metadata is available in meta/info.json:
{"codebase_version": "v2.1", "robot_type": "leju_robot", "total_episodes": 490, "total_frames": 708011, "total_tasks": 1, "total_videos": 1470, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": {"train": "0:489"}, "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.camera_head_rgb": {"dtype": "video", "shape": [480, 848, 3], "names": ["height", "width", "channels"], "info": {"video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.camera_left_wrist_rgb": {"dtype": "video", "shape": [480, 848, 3], "names": ["height", "width", "channels"], "info": {"video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.camera_right_wrist_rgb": {"dtype": "video", "shape": [480, 848, 3], "names": ["height", "width", "channels"], "info": {"video.height": 480, "video.width": 848, "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": [118], "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_arm_joint_7_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_arm_joint_7_rad", "left_leg_joint_1_rad", "left_leg_joint_2_rad", "left_leg_joint_3_rad", "left_leg_joint_4_rad", "left_leg_joint_5_rad", "left_leg_joint_6_rad", "right_leg_joint_1_rad", "right_leg_joint_2_rad", "right_leg_joint_3_rad", "right_leg_joint_4_rad", "right_leg_joint_5_rad", "right_leg_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", "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", "head_joint_1_rad", "head_joint_2_rad", "left_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w"]}, "action": {"dtype": "float32", "shape": [54], "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_arm_joint_7_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_arm_joint_7_rad", "left_leg_joint_1_rad", "left_leg_joint_2_rad", "left_leg_joint_3_rad", "left_leg_joint_4_rad", "left_leg_joint_5_rad", "left_leg_joint_6_rad", "right_leg_joint_1_rad", "right_leg_joint_2_rad", "right_leg_joint_3_rad", "right_leg_joint_4_rad", "right_leg_joint_5_rad", "right_leg_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", "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", "head_joint_1_rad", "head_joint_2_rad", "left_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s"]}, "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]}}}
Directory Structure
The dataset is organized as follows (showing leaf directories with first 5 files only):
leju_robot_moving_parts_b_qced_hardlink/
├── annotations/
│ ├── eef_acc_mag_annotation.jsonl
│ ├── eef_direction_annotation.jsonl
│ ├── eef_velocity_annotation.jsonl
│ ├── gripper_activity_annotation.jsonl
│ ├── gripper_mode_annotation.jsonl
│ └── (...)
├── data/
│ └── chunk-000/
│ ├── episode_000000.parquet
│ ├── episode_000001.parquet
│ ├── episode_000002.parquet
│ ├── episode_000003.parquet
│ ├── episode_000004.parquet
│ └── (...)
├── meta/
│ ├── episodes.jsonl
│ ├── episodes_stats.jsonl
│ ├── info.json
│ └── tasks.jsonl
└── videos/
└── chunk-000/
├── observation.images.camera_head_rgb/
│ ├── episode_000000.mp4
│ ├── episode_000001.mp4
│ ├── episode_000002.mp4
│ ├── episode_000003.mp4
│ ├── episode_000004.mp4
│ └── (...)
├── observation.images.camera_left_wrist_rgb/
│ ├── episode_000000.mp4
│ ├── episode_000001.mp4
│ ├── episode_000002.mp4
│ ├── episode_000003.mp4
│ ├── episode_000004.mp4
│ └── (...)
└── observation.images.camera_right_wrist_rgb/
├── episode_000000.mp4
├── episode_000001.mp4
├── episode_000002.mp4
├── episode_000003.mp4
├── episode_000004.mp4
└── (...)
📞 Contact and Support
For questions, issues, or feedback regarding this dataset, please contact:
- Email: None For questions, issues, or feedback regarding this dataset, please contact us.
Support
For technical support, please open an issue on our GitHub repository.
📄 License
This dataset is released under the apache-2.0 license.
Please refer to the LICENSE file for full license terms and conditions.
📚 Citation
If you use this dataset in your research, please cite:
@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
Version History
- v1.0.0 (2025-11): Initial release
- Downloads last month
- 2,009
Size of downloaded dataset files:
713 MB
Size of the auto-converted Parquet files:
713 MB
Number of rows:
708,011