Datasets:

RoboCOIN
/

alpha_bot_2_press_the_button_b

Tasks:

Robotics

Languages:

English

ArXiv:

Tags:

RoboCOIN

LeRobot

License:

Dataset card Files Files and versions

xet

Community

You need to agree to share your contact information to access this dataset

This repository is publicly accessible, but you have to accept the conditions to access its files and content.

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.

alpha_bot_2_press_the_button_b

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: 34
Total Frames: 26258
FPS: 30
Dataset Size: 482.17 MB
Robot Name: alpha_bot_2
End-Effector Type: two_finger_gripper
Teleoperation Type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.
Sensors: cam_chest_rgb, cam_head_rgb, cam_left_wrist_rgb, cam_right_wrist_rgb
Camera Information: cam_chest_rgb; cam_head_rgb; cam_left_wrist_rgb; cam_right_wrist_rgb
Scene: home
Objects: mineral_water(unknown), button(unknown), table(unknown)
Task Description: after removing the water bottle from the table, press the button.

Primary Task Instruction

after removing the water bottle from the table, press the button.

Robot Configuration

Robot Name: alpha_bot_2
Codebase Version: v2.1
End-Effector Type: two_finger_gripper
Teleoperation Type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.

Scene and Objects

Scene Type

home

Objects

mineral_water(unknown)
button(unknown)
table(unknown)

Task Descriptions

Standardized Task Description: after removing the water bottle from the table, press the button.
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 6 distinct subtasks:

Touch the bottle with left gripper (Index: 0)
End (Index: 1)
Move the bottle away with right gripper (Index: 2)
Abnormal (Index: 3)
Press the button with right gripper (Index: 4)
null (Index: 5)

Atomic Actions

pressbutton
push

Hardware and Sensors

Sensors

cam_chest_rgb
cam_head_rgb
cam_left_wrist_rgb
cam_right_wrist_rgb

Camera Information

cam_chest_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
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

Coordinate System

Definition: right-hand-frame

Dimensions & Units

Joint Rotation: radian
End-Effector Rotation: radian
End-Effector Translation: meter

Dataset Statistics

Metric	Value
Total Episodes	34
Total Frames	26258
Total Tasks	6
Total Videos	136
Total Chunks	1
Chunk Size	1000
FPS	30
State Dimensions	28
Action Dimensions	28
Camera Views	4
Dataset Size	482.17 MB

Data Splits

The dataset is organized into the following splits:

Training: Episodes 0:33

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

Data Structure (Tree)

alpha_bot_2_press_the_button_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
|   |-- 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
|       `-- ... (22 more entries)
|-- meta
|   |-- episodes.jsonl
|   |-- episodes_stats.jsonl
|   |-- info.json
|   `-- tasks.jsonl
|-- videos
|   `-- chunk-000
|       |-- observation.images.cam_chest_rgb
|       |-- observation.images.cam_head_rgb
|       |-- observation.images.cam_left_wrist_rgb
|       `-- observation.images.cam_right_wrist_rgb
|-- info.yaml
`-- README.md

Camera Views

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

Features (Full YAML)

observation.images.cam_chest_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_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.state:
  dtype: float32
  shape:
  - 28
  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
  - left_eef_pos_x_m
  - left_eef_pos_y_m
  - left_eef_pos_z_m
  - left_eef_rot_euler_x_rad
  - left_eef_rot_euler_y_rad
  - left_eef_rot_euler_z_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
  - right_eef_pos_x_m
  - right_eef_pos_y_m
  - right_eef_pos_z_m
  - right_eef_rot_euler_x_rad
  - right_eef_rot_euler_y_rad
  - right_eef_rot_euler_z_rad
  - left_gripper_open
  - right_gripper_open
action:
  dtype: float32
  shape:
  - 28
  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
  - left_eef_pos_x_m
  - left_eef_pos_y_m
  - left_eef_pos_z_m
  - left_eef_rot_euler_x_rad
  - left_eef_rot_euler_y_rad
  - left_eef_rot_euler_z_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
  - right_eef_pos_x_m
  - right_eef_pos_y_m
  - right_eef_pos_z_m
  - right_eef_rot_euler_x_rad
  - right_eef_rot_euler_y_rad
  - right_eef_rot_euler_z_rad
  - left_gripper_open
  - 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
  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_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
  shape:
  - 12
  dtype: float32
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
  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
gripper_open_scale_state:
  names:
  - left_gripper_open_scale
  - right_gripper_open_scale
  shape:
  - 2
  dtype: float32
gripper_open_scale_action:
  names:
  - left_gripper_open_scale
  - right_gripper_open_scale
  shape:
  - 2
  dtype: float32
gripper_mode_state:
  names:
  - left_gripper_mode
  - right_gripper_mode
  shape:
  - 2
  dtype: int32
gripper_mode_action:
  names:
  - left_gripper_mode
  - right_gripper_mode
  shape:
  - 2
  dtype: int32
gripper_activity_state:
  names:
  - left_gripper_activity
  - right_gripper_activity
  shape:
  - 2
  dtype: int32
gripper_activity_action:
  names:
  - left_gripper_activity
  - right_gripper_activity
  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: 337

Collection including RoboCOIN/alpha_bot_2_press_the_button_b