By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.

Airbot_MMK2_take_electronics

Dataset Description

This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.

Task Preview

View Video Directly

Overview

Total Episodes: 49
Total Frames: 13465
FPS: 30
Dataset Size: 400.20 MB
Robot Name: Airbot_MMK2
End-Effector Type: five_finger_gripper
Teleoperation Type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.
Sensors: cam_head_rgb, cam_left_wrist_rgb, cam_right_wrist_rgb, cam_front_rgb
Camera Information: cam_head_rgb; cam_left_wrist_rgb; cam_right_wrist_rgb; cam_front_rgb
Scene: industry->factory
Objects: paper_boxes(unknown), lid(unknown)
Task Description: take the calculator box and mouse box off the lid and place them on the table.

Primary Task Instruction

take the calculator box and mouse box off the lid and place them on the table.

Robot Configuration

Robot Name: Airbot_MMK2
Codebase Version: v2.1
End-Effector Type: five_finger_gripper
Teleoperation Type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.

Scene and Objects

Scene Type

industry->factory

Objects

paper_boxes(unknown)
lid(unknown)

Task Descriptions

Standardized Task Description: take the calculator box and mouse box off the lid and place them on the table.
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 7 distinct subtasks:

Abnormal (Index: 0)
Place the mouse box on the table with the left gripper (Index: 1)
Grasp the calculator box on the white lid and with the right gripper (Index: 2)
Grasp the mouse box on the white lid and with the left gripper (Index: 3)
End (Index: 4)
Place the calculator box on the table with the right gripper (Index: 5)
null (Index: 6)

Atomic Actions

grasp
pick
place

Hardware and Sensors

Sensors

cam_head_rgb
cam_left_wrist_rgb
cam_right_wrist_rgb
cam_front_rgb

Camera Information

cam_head_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
cam_front_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: end_rotation_dim
End-Effector Translation: end_translation_dim

Dataset Statistics

Metric	Value
Total Episodes	49
Total Frames	13465
Total Tasks	7
Total Videos	196
Total Chunks	1
Chunk Size	1000
FPS	30
State Dimensions	36
Action Dimensions	36
Camera Views	4
Dataset Size	400.20 MB

Data Splits

The dataset is organized into the following splits:

Training: Episodes 0:48

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_left_wrist_rgb/episode_{id}.mp{id}
Chunking: Data is organized into 1 chunk(s) of size 1000

Data Structure (Tree)

Airbot_MMK2_take_electronics_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
|       `-- ... (37 more entries)
|-- meta
|   |-- episodes.jsonl
|   |-- episodes_stats.jsonl
|   |-- info.json
|   `-- tasks.jsonl
`-- videos
    `-- chunk-000
        |-- observation.images.cam_front_rgb
        |-- observation.images.cam_head_rgb
        |-- observation.images.cam_left_wrist_rgb
        `-- observation.images.cam_right_wrist_rgb

Camera Views

This dataset includes 4 camera views: cam_head_rgb, cam_left_wrist_rgb, cam_right_wrist_rgb, cam_front_rgb.

Features (Full YAML)

observation.images.cam_head_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_front_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:
  - 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
  shape:
  - 5
  dtype: int32
scene_annotation:
  names: null
  shape:
  - 1
  dtype: int32
eef_sim_pose_state:
  names:
  - left_eef_pos_x
  - left_eef_pos_y
  - left_eef_pos_z
  - left_eef_rot_x
  - left_eef_rot_y
  - left_eef_rot_z
  - right_eef_pos_x
  - right_eef_pos_y
  - right_eef_pos_z
  - right_eef_rot_x
  - right_eef_rot_y
  - right_eef_rot_z
  shape:
  - 12
  dtype: float32
eef_sim_pose_action:
  names:
  - left_eef_pos_x
  - left_eef_pos_y
  - left_eef_pos_z
  - left_eef_rot_x
  - left_eef_rot_y
  - left_eef_rot_z
  - right_eef_pos_x
  - right_eef_pos_y
  - right_eef_pos_z
  - right_eef_rot_x
  - right_eef_rot_y
  - right_eef_rot_z
  shape:
  - 12
  dtype: float32
eef_direction_state:
  names:
  - left_eef_direction
  - right_eef_direction
  shape:
  - 2
  dtype: int32
eef_direction_action:
  names:
  - left_eef_direction
  - right_eef_direction
  shape:
  - 2
  dtype: int32
eef_velocity_state:
  names:
  - left_eef_velocity
  - right_eef_velocity
  shape:
  - 2
  dtype: int32
eef_velocity_action:
  names:
  - left_eef_velocity
  - right_eef_velocity
  shape:
  - 2
  dtype: int32
eef_acc_mag_state:
  names:
  - left_eef_acc_mag
  - right_eef_acc_mag
  shape:
  - 2
  dtype: int32
eef_acc_mag_action:
  names:
  - left_eef_acc_mag
  - right_eef_acc_mag
  shape:
  - 2
  dtype: int32

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.

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:

@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

Downloads last month: 303

Collection including RoboCOIN/Airbot_MMK2_take_electronics

RoboCOIN

Collection

RoboCOIN • 432 items • Updated 19 days ago • 4

Paper for RoboCOIN/Airbot_MMK2_take_electronics

RoboCOIN: An Open-Sourced Bimanual Robotic Data COllection for INtegrated Manipulation

Paper • 2511.17441 • Published Nov 21, 2025

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