Agilex_Cobot_Magic_storage_fruit_bowl

该数据集名为'Agilex_Cobot_Magic_storage_fruit_bowl'，是一个机器人学数据集，专注于一个涉及协作机器人将水果放入碗中的任务。数据集包含100个片段，78670帧，结构上包括来自三个摄像头视角的视频数据、状态和动作数据以及丰富的注释。任务涉及14个与抓取和放置水果相关的子任务。数据集与LeRobot格式兼容，并包含详细的元数据、硬件规格和数据集统计信息。

原始信息汇总

Agilex_Cobot_Magic_storage_fruit_bowl 数据集概述

数据集基本信息

• 任务类别: 机器人学
• 语言: 英语
• 许可协议: Apache-2.0
• 数据集格式: 基于LeRobot的扩展格式，与LeRobot完全兼容

数据集规模与统计

• 总情节数: 100
• 总帧数: 78670
• 帧率: 30 FPS
• 数据集大小: 740.83 MB
• 总任务数: 14
• 总视频数: 300
• 总数据块数: 1
• 数据块大小: 1000
• 状态维度: 26
• 动作维度: 26
• 相机视角数: 3

任务与场景

• 主要任务指令: put the three fruits on the table into a bowl.
• 标准化任务描述: put the three fruits on the table into a bowl.
• 场景类型: household->kitchen
• 操作类型: Due to some reasons, this dataset temporarily cannot provide the operation type information.
• 环境类型: Due to some reasons, this dataset temporarily cannot provide the environment type information.

对象

• table(unknown)
• bowl(unknown)
• green_lemon(unknown)
• mango(unknown)
• pomegranate(unknown)

子任务

数据集包含14个不同的子任务：

1. Grasp the pomegranate with left gripper (Index: 0)
2. Place the pomegranate in the blue bowl with left gripper (Index: 1)
3. Grasp the pomegranate with right gripper (Index: 2)
4. Place the green lemon in the blue bowl with right gripper (Index: 3)
5. Grasp the green lemon with left gripper (Index: 4)
6. Place the pomegranate in the blue bowl with right gripper (Index: 5)
7. Place the mango in the blue bowl with right gripper (Index: 6)
8. Grasp the mango with right gripper (Index: 7)
9. End (Index: 8)
10. Place the mango in the blue bowl with left gripper (Index: 9)
11. Grasp the green lemon with right gripper (Index: 10)
12. Place the green lemon in the blue bowl with left gripper (Index: 11)
13. Grasp the mango with left gripper (Index: 12)
14. null (Index: 13)

原子动作

• grasp
• lift
• lower

机器人配置

• 机器人名称: Agilex_Cobot_Magic
• 代码库版本: v2.1
• 末端执行器类型: two_finger_gripper
• 遥操作类型: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.

硬件与传感器

传感器

• cam_head_rgb
• cam_left_wrist_rgb
• cam_right_wrist_rgb

相机信息

• 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

坐标系与单位

• 坐标系定义: right-hand-frame
• 关节旋转单位: radian
• 末端执行器旋转单位: radian
• 末端执行器平移单位: meter

数据结构与组织

数据划分

• 训练集: Episodes 0:99

文件组织

• 数据文件路径模式: data/chunk-{id}/episode_{id}.parquet
• 视频文件路径模式: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
• 分块组织: 数据被组织成1个数据块，每个块大小为1000

目录结构

Agilex_Cobot_Magic_storage_fruit_bowl_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 | -- ... (88 more entries) |-- meta | |-- episodes.jsonl | |-- episodes_stats.jsonl | |-- info.json | -- tasks.jsonl |-- videos | -- chunk-000 | |-- observation.images.cam_head_rgb | |-- observation.images.cam_left_wrist_rgb | -- observation.images.cam_right_wrist_rgb |-- info.yaml -- README.md

可用标注

• 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

数据集标签

• RoboCOIN
• LeRobot

作者与贡献者

• 贡献者: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
• 标注者: No annotator information available.

相关链接

• 主页: https://flagopen.github.io/RoboCOIN/
• 论文: https://arxiv.org/abs/2511.17441
• 代码仓库: https://github.com/FlagOpen/RoboCOIN

版本信息

• Initial Release

引用要求

使用此数据集需引用相关论文： 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}, }

同时建议引用LeRobot框架：https://github.com/huggingface/lerobot