RoboCOIN/Agilex_Cobot_Magic_Agilex_Cobot_Magic_stack_block
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---
task_categories:
- robotics
language:
- en
extra_gated_prompt: '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.'
extra_gated_fields:
Company/Organization:
type: 'text'
description: 'e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"'
Country:
type: 'country'
description: 'e.g., "Germany", "China", "United States"'
tags:
- RoboCOIN
- LeRobot
license: apache-2.0
configs:
- config_name: default
data_files: data/chunk-{id}/episode_{id}.parquet
---
# Agilex_Cobot_Magic_stack_block
## 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_head_rgb/episode_000000.mp4" controls width="640"></video>
[View Video Directly](videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4)
### Overview
- **Total Episodes:** 672
- **Total Frames:** 643028
- **FPS:** 30
- **Dataset Size:** 3.97 GB
- **Robot Name:** `Agilex_Cobot_Magic`
- **End-Effector Type:** `two_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`
- **Camera Information:** cam_head_rgb;
cam_left_wrist_rgb;
cam_right_wrist_rgb
- **Scene:** `household->living_room`
- **Objects:** `table(unknown)`,
`square_building_blocks(unknown)`
- **Task Description:** According to the building block template in front, assemble the scattered blocks together.
### Primary Task Instruction
> According to the building block template in front, assemble the scattered blocks together.
### Robot Configuration
- **Robot Name:** `Agilex_Cobot_Magic`
- **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
`household->living_room`
### Objects
- `table(unknown)`
- `square_building_blocks(unknown)`
## Task Descriptions
- **Standardized Task Description:** `According to the building block template in front, assemble the scattered blocks together.`
- **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 384 distinct subtasks:
1. **Put the yellow build block on the blue build block
** (Index: 0)
2. **Put the orange build block on the left of the blue build block
** (Index: 1)
3. **Put the red build block on the right of the yellow build block
** (Index: 2)
4. **Put the orange build block on the right of the yellow build block
** (Index: 3)
5. **Put the green cube on the left of the blue cube with the left gripper** (Index: 4)
6. **Put the yellow build block on the blue build block
** (Index: 5)
7. **Put the green build block on the right of the blue build block
** (Index: 6)
8. **Put the red build block on the blue build block
** (Index: 7)
9. **Put the yellow build block on the right of the red build block
** (Index: 8)
10. **Put the red build block on the behind of the green' build block
** (Index: 9)
11. **Put the blue build block on the behind of the orange build block
** (Index: 10)
12. **Put the orange cube on the behind of the red cube** (Index: 11)
13. **Put the blue cube on the behind of the red cube** (Index: 12)
14. **Put the blue cube on the right of the green cube** (Index: 13)
15. **Put the green cube on the left of the yellow cube with the right gripper** (Index: 14)
16. **Grasp the green block with left gripper** (Index: 15)
17. **Put the blue cube and green cube in the center of the table with the right gripper** (Index: 16)
18. **Put the green cube on the behind of the yellow cube** (Index: 17)
19. **Put the green build block on the right of the orange build block
** (Index: 18)
20. **Put the blue cube on the behind of the yellow cube** (Index: 19)
21. **Put the green build block on the orange build block
** (Index: 20)
22. **Grasp the blue block with left gripper** (Index: 21)
23. **Put the green cube on the right of the red cube** (Index: 22)
24. **Grasp the orange block with left gripper** (Index: 23)
25. **Put the bluebuild block on the right of the yellow build block
** (Index: 24)
26. **Put the yellow build block on the right of the green build block
** (Index: 25)
27. **Put the yellow cube on the right of the red cube** (Index: 26)
28. **Put the orange build block on the right of the green build block
** (Index: 27)
29. **Adjust the position of the cube with the right gripper** (Index: 28)
30. **Put the red cube and green cube in the center of the table with the left gripper** (Index: 29)
31. **Put the yellow build block on the right of the red build block
** (Index: 30)
32. **Put the blue cube and green cube in the center of the table with the left gripper** (Index: 31)
33. **Put the red build block on the behind of the orange build block
** (Index: 32)
34. **Put the green cube on the red cube** (Index: 33)
35. **Put the orange build block on the behind of the red build block
** (Index: 34)
36. **Put the blue build block on the right of the yellow build block
** (Index: 35)
37. **Put the yellow build block on the right of the orange build block
** (Index: 36)
38. **Put the red cube on the left of the green cube with the left gripper** (Index: 37)
39. **Put the yellow build block on the behind of the blue build block
** (Index: 38)
40. **Put the green build block in the center of the table
** (Index: 39)
41. **Put the orange cube on the left of the yellow cube with the right gripper** (Index: 40)
42. **Put the yellow cube on the behind of the green cube** (Index: 41)
43. **Put the blue build block on the green build block
** (Index: 42)
44. **Put the blue build block on the right of orange the build block
** (Index: 43)
45. **Put the yellow build block in the center of the table
** (Index: 44)
46. **Grasp the yellow block with left gripper** (Index: 45)
47. **Put the orange build block on the behind of the red build block
** (Index: 46)
48. **Put the red cube on the left of the orange cube** (Index: 47)
49. **Put the green cube on the right of the yellow cube with the left gripper** (Index: 48)
50. **Put the blue build block on the front of the orange build block
** (Index: 49)
51. **Put the green build block on the right of the orange build block
** (Index: 50)
52. **Put the ornage build block on the behind of the green build block
** (Index: 51)
53. **Put the red build block on the behind of the blue build block
** (Index: 52)
54. **Put the yellow cube and orange cube in the center of the table with the right gripper** (Index: 53)
55. **Put the blue cube in the center of the table** (Index: 54)
56. **Put the ornage build block on the behind of the blue build block
** (Index: 55)
57. **Grasp the red block with right gripper** (Index: 56)
58. **Put the orange cube on the right of the yellow cube** (Index: 57)
59. **Put the red build block on the behind of the yellow build block
** (Index: 58)
60. **Put the yellow build block on the right of the green build block
** (Index: 59)
61. **Put the yellow cube on the front of the orange cube with the right gripper** (Index: 60)
62. **Put the green build block on the behind of the blue build block** (Index: 61)
63. **Put the yellow build block in the center of the table** (Index: 62)
64. **Put the yellow build block on the behind of the blue build block** (Index: 63)
65. **Put the red build block on the left of the green build block
** (Index: 64)
66. **Put the orange cube on the right of the blue cube** (Index: 65)
67. **Put the yellow cube on the behind of the red cube** (Index: 66)
68. **Grasp the orange block with right gripper** (Index: 67)
69. **Put the red cube on the right of the green cube** (Index: 68)
70. **move the build block to the center of the table** (Index: 69)
71. **Put the yellow build block on the right of the red build block
** (Index: 70)
72. **Put the greem build block on the behind of the blue build block
** (Index: 71)
73. **Put the yellow build block on the behind of the blue build block
** (Index: 72)
74. **Put the green cube on the right of the orange cube with the right gripper** (Index: 73)
75. **Put the red cube on the right of the green cube with the left gripper** (Index: 74)
76. **Put the yellow build block on the behind of the green build block
** (Index: 75)
77. **Put the green build block on the left of the orange build block** (Index: 76)
78. **Put the yellow cube on the front of the blue cube with the right gripper** (Index: 77)
79. **Put the red build block on the right of the blue build block
** (Index: 78)
80. **Put the yellow build block on the blue build block
** (Index: 79)
81. **Put the orange cube on the behind of the blue cube** (Index: 80)
82. **Put the yellow build block on the right of the blue build block
** (Index: 81)
83. **Put the green cube on the right of the blue cube with the left gripper** (Index: 82)
84. **Put the yellow cube on the right of the orange cube** (Index: 83)
85. **Put the yellow cube and green cube in the center of the table with the left gripper** (Index: 84)
86. **Put the blue build block on the left of the yellow build block
** (Index: 85)
87. **Put the red cube and blue cube in the center of the table with the right gripper** (Index: 86)
88. **Put the blue build block on the right of the red build block
** (Index: 87)
89. **Put the red cube on the right of the orange cube with the right gripper** (Index: 88)
90. **Put the green build block on the right of the red build block
** (Index: 89)
91. **Put the blue cube on the left of the green cube with the right gripper** (Index: 90)
92. **Put the blue cube on the right of the yellow cube with the right gripper** (Index: 91)
93. **Put the orange build block on the behind of the yellow build block
** (Index: 92)
94. **Put the blue cube on the left of the orange cube** (Index: 93)
95. **Put the orange cube on the right of the green cube** (Index: 94)
96. **Put the red build block in the center of the table
** (Index: 95)
97. **Put the green build block on the left of the blue build block
** (Index: 96)
98. **Put the green cube on the left of the orange cube with the left gripper** (Index: 97)
99. **Grasp the blue block with right gripper** (Index: 98)
100. **Put the orange build block on the behind of the yellow build block
** (Index: 99)
101. **Put the yellow build block in the center of the table
** (Index: 100)
102. **Put the blue build block on the front of the green build block
** (Index: 101)
103. **Put the red cube in the center of the table** (Index: 102)
104. **Put the blue build block on the behind of the orange build block
** (Index: 103)
105. **Put the orange cube on the right of the yellow cube with the right gripper** (Index: 104)
106. **Put the red cube on the behind of the orange cube** (Index: 105)
107. **Put the blue cube and orange cube in the center of the table with the right gripper** (Index: 106)
108. **Put the green build block on the left of the blue build block
** (Index: 107)
109. **Put the right build block on the right of the yellow build block
** (Index: 108)
110. **Put the green build block on the right of the red build block
** (Index: 109)
111. **Put the yellow build block on the right of the red build block
** (Index: 110)
112. **Put the green build block on the left of the blue build block
** (Index: 111)
113. **Put the yellow build block on the behind of the red build block
** (Index: 112)
114. **Put the blue build block in the center of the table
** (Index: 113)
115. **Put the yellow build block on the right of the blue build block
** (Index: 114)
116. **Put the orange cube on the left of the green cube with the left gripper** (Index: 115)
117. **Put the yellow cube on the right of the blue cube with the right gripper** (Index: 116)
118. **Put the green build block on the behind of the yellow build block
** (Index: 117)
119. **Put the red cube on the right of the orange cube with the left gripper** (Index: 118)
120. **Put the green build block on the right of the yellow build block
** (Index: 119)
121. **Put the green build block on the right of the red build block
** (Index: 120)
122. **Put the green build block on the right of the orange build block
** (Index: 121)
123. **Put the yellow cube on the right of the green cube** (Index: 122)
124. **Put the yellow build block on the right of the orange build block
** (Index: 123)
125. **Put the orange build block on the green build block
** (Index: 124)
126. **Put the green cube on the front of the blue cube with the left gripper** (Index: 125)
127. **Put the green build block in the center of the table
** (Index: 126)
128. **Put the green cube in the center of the table** (Index: 127)
129. **Put the yellow cube and green cube in the center of the table with the right gripper** (Index: 128)
130. **Put the yellow cube and blue cube in the center of the table with the right gripper** (Index: 129)
131. **Put the red cube on the behind of the yellow cube** (Index: 130)
132. **Put the XX build block on the XX build block** (Index: 131)
133. **Put the orange cube on the right of the green cube with the right gripper** (Index: 132)
134. **Put the orange build block on the behind of the blue build block
** (Index: 133)
135. **Put the green build block on the behind of the yellow build block
** (Index: 134)
136. **Put the blue cube in the front of the green cube** (Index: 135)
137. **Put the green build block on the right of the orange build block
** (Index: 136)
138. **Put the blue build block on the right of the red build block
** (Index: 137)
139. **Put the red build block on the right of the orange build block
** (Index: 138)
140. **Put the blue build block on the behind of the green build block
** (Index: 139)
141. **Put the green build block on the right of the blue build block
** (Index: 140)
142. **
Put the yellow build block in the center of the table** (Index: 141)
143. **Put the orange build block on the behind of the red build block
** (Index: 142)
144. **Put the red cube and orange cube in the center of the table with the right gripper** (Index: 143)
145. **Put the orange build block on the behind of the green build block
** (Index: 144)
146. **Put the orange build block in the center of the table
** (Index: 145)
147. **Put the yellow cube in the center of the table** (Index: 146)
148. **Put the yellow build block on the behind of the green build block
** (Index: 147)
149. **Put the blue build block on the right of the green build block
** (Index: 148)
150. **Put the green cube on the right of the orange cube** (Index: 149)
151. **Adjust the position of the cube with the left gripper** (Index: 150)
152. **Put the green cube on the left of the yellow cube with the left gripper** (Index: 151)
153. **Put the green build block on the behind of the yellow build block
** (Index: 152)
154. **Put the orange build block on the right of the red build block
** (Index: 153)
155. **Put the red build block on the right of the yellow build block
** (Index: 154)
156. **Put the green build block on the red build block
** (Index: 155)
157. **Put the yellow cube on the behind of the blue cube with the left gripper** (Index: 156)
158. **Put the yellow build block on the behind of the red build block
** (Index: 157)
159. **Put the orange cube on the right of the red cube with the left gripper** (Index: 158)
160. **Adjust the pose of the building blocks** (Index: 159)
161. **Put the blue build block on the front of the green build block
** (Index: 160)
162. **Put the green cube on the right of the red cube with the right gripper** (Index: 161)
163. **Put theyellow build block on the behind of the blue build block
** (Index: 162)
164. **Put the red cube in the center of the table with the left gripper** (Index: 163)
165. **Put the red build block on the green build block
** (Index: 164)
166. **Put the yellow build block on the orange build block
** (Index: 165)
167. **Put the blue build block in the center of the table
** (Index: 166)
168. **Put the green build block on the right of the orange build block
** (Index: 167)
169. **Put the red build block on the right of the green build block
** (Index: 168)
170. **Put the red cube on the right of the orange cube** (Index: 169)
171. **Put the yellow cube on the left of the blue cube with the left gripper** (Index: 170)
172. **Put the red build block on the behind of the green build block
** (Index: 171)
173. **Put the yellow cube on the right of the green cube with the left gripper** (Index: 172)
174. **Put the green build block on the behind of the blue build block
** (Index: 173)
175. **Put the blue build block on the orange build block
** (Index: 174)
176. **Put the orange build block on the orange build block
** (Index: 175)
177. **Put the green build block on the orange build block
** (Index: 176)
178. **Put the yellow build block in the center of the table
** (Index: 177)
179. **Put the blue cube in the front of the yellow cube** (Index: 178)
180. **Put the red build block on the behind of the green build block
** (Index: 179)
181. **Put the blue build block on the behind of the green build block
** (Index: 180)
182. **Put the red cube and yellow cube in the center of the table with the right gripper** (Index: 181)
183. **Put the orange build block on the right of the yellow build block
** (Index: 182)
184. **Put the orange build block on the left of the red build block
** (Index: 183)
185. **Put the orange build block in the center of the table
** (Index: 184)
186. **Put the blue build block in the center of the table
** (Index: 185)
187. **Put the yellow build block on the right of the green build block
** (Index: 186)
188. **Put the orange build block in the center of the table
** (Index: 187)
189. **Put the red cube and green cube in the center of the table with the right gripper** (Index: 188)
190. **Put the blue build block on the right of the yellow build block
** (Index: 189)
191. **Put the orange build block on the behind of the blue build block
** (Index: 190)
192. **Put the orange build block on the right of the yellow build block
** (Index: 191)
193. **Put the blue cube on the left of the yellow cube with the left gripper** (Index: 192)
194. **Put the red cube on the right of the green cube with the right gripper** (Index: 193)
195. **Put the red build block on the behind of the green build block
** (Index: 194)
196. **Put the orange build block on the right of the red build block
** (Index: 195)
197. **Put the blue build block on the right of the yellow build block** (Index: 196)
198. **Put the green build block on the right of the yellow build block
** (Index: 197)
199. **Put the yellow cube and blue cube in the center of the table with the left gripper** (Index: 198)
200. **Put the yellow cube on the left of the orange cube with the right gripper** (Index: 199)
201. **Put the red cube in the front of the orange cube** (Index: 200)
202. **Put the yellow build block on the behind of the green build block
** (Index: 201)
203. **Put the blue build block in the center of the table
** (Index: 202)
204. **Put the green build block on the behind of the blue build block** (Index: 203)
205. **Put the orange cube on the left of the red cube with the right gripper** (Index: 204)
206. **Put the green cube and orange cube in the center of the table with the right gripper** (Index: 205)
207. **Grasp the yellow block with right gripper** (Index: 206)
208. **Put the orange build block on the green build block
** (Index: 207)
209. **Put the yellow build block on the front of the red build block
** (Index: 208)
210. **Put the orange cube on the right of the blue cube with the right gripper** (Index: 209)
211. **Put the green build block on the right of the yellow build block
** (Index: 210)
212. **Put the yellow cube on the left of the red cube with the right gripper** (Index: 211)
213. **Abnormal** (Index: 212)
214. **Put the red build block on the yellow build block
** (Index: 213)
215. **Put the blue cube on the behind of the orange cube** (Index: 214)
216. **Put the red build block on the right of the blue build block
** (Index: 215)
217. **Put the green cube in the center of the table with the left gripper** (Index: 216)
218. **Put the red build block on the front of the green build block
** (Index: 217)
219. **Put the yellow cube on the behind of the blue cube** (Index: 218)
220. **Put the blue build block on the left of the yellow build block
** (Index: 219)
221. **Put the orange cube on the left of the blue cube** (Index: 220)
222. **Put the orange build block on the front of the blue build block
** (Index: 221)
223. **Put the yellow cube in the front of the green cube** (Index: 222)
224. **Put the blue build block in the center of the table
** (Index: 223)
225. **Put the green cube in the front of the yellow cube** (Index: 224)
226. **Put the red cube and orange cube in the center of the table with the left gripper** (Index: 225)
227. **Put the yellow build block on the behind of the green build block** (Index: 226)
228. **Put the orange build block on the blue build block
** (Index: 227)
229. **Put the blue build block on the left of the yellow build block
** (Index: 228)
230. **Grasp the red block with left gripper** (Index: 229)
231. **Put the blue build block on the behind of the orange build block
** (Index: 230)
232. **Put the red build block on the right of the yellow build block
** (Index: 231)
233. **Put the red build block in the center of the table
** (Index: 232)
234. **Put the red build block on the right of the orange build block
** (Index: 233)
235. **Put the red build block on the behind of the yellow build block
** (Index: 234)
236. **Put the green build block on the right of the red build block
** (Index: 235)
237. **Put the blue build block on the behind of the green build block
** (Index: 236)
238. **Put the orange cube on the right of the red cube** (Index: 237)
239. **Put the red build block on the right of the green build block
** (Index: 238)
240. **Put the blue build block on the behind of the green build block
** (Index: 239)
241. **Put the green build block in the center of the table
** (Index: 240)
242. **Put the yellow cube on the right of the blue cube** (Index: 241)
243. **Put the yellow cube on the behind of the orange cube** (Index: 242)
244. **Put the yellow cube in the front of the orange cube** (Index: 243)
245. **Put the green build block on the red build block
** (Index: 244)
246. **Put the green cube on the right of the yellow cube** (Index: 245)
247. **Put the yellow build block on the right of the green build block
** (Index: 246)
248. **Put the red cube and blue cube in the center of the table with the left gripper** (Index: 247)
249. **Put the green build block on the left of the orange build block
** (Index: 248)
250. **Put the orange cube on the left of the blue cube with the right gripper** (Index: 249)
251. **Put the green build block on the blue build block
** (Index: 250)
252. **Put the green build block on the orange build block
** (Index: 251)
253. **Put the orange build block on the right of the blue build block
** (Index: 252)
254. **Put the orange build block on the right of the blue build block
** (Index: 253)
255. **Put the blue cube on the yellow cube** (Index: 254)
256. **Put the orange build block on the right of the green build block
** (Index: 255)
257. **Put the blue cube on the right of the orange cube with the right gripper** (Index: 256)
258. **Put the yellow cube on the right of the orange cube with the right gripper** (Index: 257)
259. **Put the red cube on the left of the orange cube with the left gripper** (Index: 258)
260. **Put the yellow build block on the behind of the green build block
** (Index: 259)
261. **Put the orange build block on the left of the red build block
** (Index: 260)
262. **Put the red build block on the front of the green build block
** (Index: 261)
263. **Put the blue cube on the right of the red cube with the right gripper** (Index: 262)
264. **Put the yellow build block on the behind of the red build block
** (Index: 263)
265. **Put the red build block on the behind of the yellow build block
** (Index: 264)
266. **Put the red build block on the behind of the blue build block
** (Index: 265)
267. **Put the yellow cube on the left of the green cube** (Index: 266)
268. **Put the blue build block on the right of the orange build block
** (Index: 267)
269. **Put the green cube on the right of the blue cube** (Index: 268)
270. **Put the red build block on the blue build block
** (Index: 269)
271. **Put the blue build block on the red build block
** (Index: 270)
272. **Put the orange cube in the front of the blue cube** (Index: 271)
273. **Put the red build block on the right of the blue build block
** (Index: 272)
274. **Put the blue build block on the right of the yellow build block** (Index: 273)
275. **Put the red build block on the right of the blue build block** (Index: 274)
276. **Put the green cube in the front of the blue cube** (Index: 275)
277. **Put the red cube in the front of the blue cube** (Index: 276)
278. **Put the blue cube on the right of the green cube with the left gripper** (Index: 277)
279. **Put the blue build block on the behind of the orange build block
** (Index: 278)
280. **Put the red build block in the center of the table
** (Index: 279)
281. **Put the green cube and orange cube in the center of the table with the left gripper** (Index: 280)
282. **Put the blue build block on the behind of the red build block
** (Index: 281)
283. **Put the blue cube on the right of the orange cube** (Index: 282)
284. **Put the blue build block on the right of the green build block
** (Index: 283)
285. **Put the red build block on the front of the blue build block
** (Index: 284)
286. **Static** (Index: 285)
287. **Put the red build block on the front of the yellow build block
** (Index: 286)
288. **Put the blue build block on the right of the yellow build block
** (Index: 287)
289. **Put the yellow cube in the front of the blue cube** (Index: 288)
290. **Put the yellow build block in the center of the table
** (Index: 289)
291. **Put the yellow build block on the behind of the red build block
** (Index: 290)
292. **Put the red cube on the right of the yellow cube** (Index: 291)
293. **Put the green build block on the behind of the red build block
** (Index: 292)
294. **Put the yellow build block on the right of the green build block
** (Index: 293)
295. **Put the yellow build block on the behind of the blue build block
** (Index: 294)
296. **Put the orange cube on the left of the red cube** (Index: 295)
297. **Put the yellow build block on the behind of the blue build block
** (Index: 296)
298. **Put the yellow build block on the right of the blue build block
** (Index: 297)
299. **Put the red build block in the center of the table
** (Index: 298)
300. **Put the green build block on the right of the blue build block
** (Index: 299)
301. **Put the green build block on the behind of the orange build block
** (Index: 300)
302. **Put the blue cube in the front of the orange cube** (Index: 301)
303. **Put the green cube on the right of the blue cube with the right gripper** (Index: 302)
304. **Put the green build block on the right of the red build block
** (Index: 303)
305. **Put the red build block on the behind of the green build block
** (Index: 304)
306. **Put the red build block on the behind of the yellow build block
** (Index: 305)
307. **Put the green build block in the center of the table
** (Index: 306)
308. **Put the yellow build block on the right of the blue build block
** (Index: 307)
309. **Put the orange build block on the behind of the blue build block
** (Index: 308)
310. **Put the green build block on the right of the yellow build block
** (Index: 309)
311. **Put the orange build block in the center of the table
** (Index: 310)
312. **Put the red cube on the right of the blue cube** (Index: 311)
313. **Put the green build block on the behind of the orange build block
** (Index: 312)
314. **Put the blue build block on the right of the orange build block** (Index: 313)
315. **Put the orange cube on the behind of the yellow cube with the left gripper** (Index: 314)
316. **Put the orange cube in the front of the yellow cube** (Index: 315)
317. **Put the yellow build block on the right of the orange build block
** (Index: 316)
318. **Put the orange build block on the front of the blue build block
** (Index: 317)
319. **Put the yellow cube on the behind of the green cube with the left gripper** (Index: 318)
320. **Put the red cube on the left of the blue cube** (Index: 319)
321. **Put the blue cube on the behind of the green cube** (Index: 320)
322. **Put the blue cube on the right of the green cube with the right gripper** (Index: 321)
323. **Put the green build block on the right of the orange build block
** (Index: 322)
324. **Put the red build block on the right of the blue build block
** (Index: 323)
325. **Put the red cube on the left of the green cube with the right gripper** (Index: 324)
326. **Put the blue build block on the right of the orange build block
** (Index: 325)
327. **Put the yellow build block on the behind of the blue build block
** (Index: 326)
328. **Put the yellow cube on the left of the orange cube** (Index: 327)
329. **Put the orange cube in the center of the table** (Index: 328)
330. **Put the blue cube on the right of the red cube** (Index: 329)
331. **Put the blue build block on the right of the yellow build block
** (Index: 330)
332. **Put the orange build block on the right of the green build block
** (Index: 331)
333. **Put the green build block in the center of the table
** (Index: 332)
334. **Put the red cube in the front of the green cube** (Index: 333)
335. **Put the green build block on the behind of the yellow build block
** (Index: 334)
336. **Put the yellow cube on the right of the green cube with the right gripper** (Index: 335)
337. **Put the orange build block on the behind of the yellow build block
** (Index: 336)
338. **Put the green build block on the behind of the blue build block
** (Index: 337)
339. **
Put the yellow build block on the behind of the green build block
** (Index: 338)
340. **Put the green build block on the behind of the yellow build block
** (Index: 339)
341. **Put the orange build block on the behind of the blue build block
** (Index: 340)
342. **Put the red cube on the right of the yellow cube with the right gripper** (Index: 341)
343. **Put the blue cube on the right of the yellow cube** (Index: 342)
344. **Put the green build block in the center of the table** (Index: 343)
345. **Put the green build block on the right of the red build block
** (Index: 344)
346. **Put the green cube on the right of the yellow cube with the right gripper** (Index: 345)
347. **Put the red build block on the front of the yellow build block
** (Index: 346)
348. **Put the green build block in the center of the table
** (Index: 347)
349. **Put the green build block on the blue build block
** (Index: 348)
350. **Put the green build block on the blue build block
** (Index: 349)
351. **Put the blue cube in the front of the red cube** (Index: 350)
352. **Put the orange build block on the left of the red build block
** (Index: 351)
353. **Put the yellow cube on the right of the red cube with the right gripper** (Index: 352)
354. **Put the yellow build block on the right of the orange build block
** (Index: 353)
355. **Grasp the green block with right gripper** (Index: 354)
356. **Put the blue build block on the behind of the orange build block
** (Index: 355)
357. **Put the orange build block on the right of the blue build block
** (Index: 356)
358. **Put the blue build block on the right of the orange build block
** (Index: 357)
359. **Put the red cube on the left of the yellow cube with the right gripper** (Index: 358)
360. **Put the orange build block on the right of the blue build block
** (Index: 359)
361. **Put the blue cube on the left of the red cube** (Index: 360)
362. **Put the orange build block on the right of the build block
** (Index: 361)
363. **Put the orange build block on the right of the yellow build block
** (Index: 362)
364. **Put the orange cube in the front of the red cube** (Index: 363)
365. **Put the red cube in the front of the yellow cube** (Index: 364)
366. **Put the yellow cube on the left of the green cube with the left gripper** (Index: 365)
367. **Put the red cube on the right of the blue cube with the right gripper** (Index: 366)
368. **Put the green build block on the right of the orange build block
** (Index: 367)
369. **Put the red cube on the behind of the blue cube** (Index: 368)
370. **Put the yellow build block in the center of the table
** (Index: 369)
371. **Put the yellow cube on the orange cube** (Index: 370)
372. **Put the blue build block in the center of the table
** (Index: 371)
373. **Put the blue cube on the left of the red cube with the left gripper** (Index: 372)
374. **Put the blue build block on the behind of the yellow build block
** (Index: 373)
375. **Put the green build block on the right of the orange build block
** (Index: 374)
376. **Put the yellow cube in the front of the red cube** (Index: 375)
377. **Put the yellow build block on the behind of the green build block
** (Index: 376)
378. **Put the orange cube on the right of the red cube with the right gripper** (Index: 377)
379. **Put the orange cube on the front of the blue cube with the right gripper** (Index: 378)
380. **End** (Index: 379)
381. **Put the green cube on the behind of the blue cube** (Index: 380)
382. **Put blue the build block on the right of the red build block
** (Index: 381)
383. **Put the blue cube on the left of the red cube with the right gripper** (Index: 382)
384. **null** (Index: 383)
### Atomic Actions
- `grasp`
- `lift`
- `lower`
## Hardware and Sensors
### Sensors
- `cam_head_rgb`
- `cam_left_wrist_rgb`
- `cam_right_wrist_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
### 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** | 672 |
| **Total Frames** | 643028 |
| **Total Tasks** | 384 |
| **Total Videos** | 2016 |
| **Total Chunks** | 1 |
| **Chunk Size** | 1000 |
| **FPS** | 30 |
| **State Dimensions** | 26 |
| **Action Dimensions** | 26 |
| **Camera Views** | 3 |
| **Dataset Size** | 3.97 GB |
## Data Splits
The dataset is organized into the following splits:
- **Training**: Episodes 0:671
## 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)
```
Agilex_Cobot_Magic_Agilex_Cobot_Magic_stack_block_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
| `-- ... (660 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
```
## Camera Views
This dataset includes 3 camera views: `cam_head_rgb`, `cam_left_wrist_rgb`, `cam_right_wrist_rgb`.
## Features (Full YAML)
```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.state:
dtype: float32
shape:
- 26
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
- 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_gripper_open
- 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
action:
dtype: float32
shape:
- 26
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
- 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_gripper_open
- 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
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_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
dtype: float32
shape:
- 12
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
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_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
gripper_activity_action:
names:
- left_gripper_activity
- right_gripper_activity
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
```
## 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
提供机构：
RoboCOIN
搜集汇总
数据集介绍
构建方式
在机器人操作领域，数据集的构建往往依赖于真实世界的交互记录。Agilex_Cobot_Magic_stack_block数据集通过扩展LeRobot格式，在家庭客厅场景中，利用配备双指夹爪的Agilex_Cobot_Magic机器人，采集了672个完整操作片段。这些片段以30帧每秒的速率记录，总计包含超过64万帧视觉数据，数据规模约3.97GB。采集过程通过头部、左右腕部三台RGB相机同步捕捉多视角图像，细致记录了机器人根据前方积木模板，将散落积木组装起来的堆叠任务，形成了结构化、可复现的机器人操作序列。
特点
该数据集的核心特点在于其任务定义的多样性与数据的多模态性。它涵盖了384种不同的堆叠子任务，涉及不同颜色积木在空间方位上的组合，如放置、抓取、调整位置等，提供了丰富的操作语义变化。数据模态上，除了包含机器人本体状态信息外，还同步提供了头部与双腕视角的RGB视觉流，实现了对操作场景与机器人末端执行器动作的全面观测。数据集严格遵循LeRobot兼容格式，确保了其在开源机器人学习框架中的即插即用性，为模仿学习与强化学习算法提供了高质量、多视角的演示数据。
使用方法
研究人员可利用该数据集进行机器人技能学习与策略泛化研究。数据集以Parquet文件格式组织，每个文件对应一个操作片段（episode），可直接被LeRobot等标准机器人学习库加载与处理。典型的使用流程包括：加载指定片段的数据，解析其中的多视角图像序列、机器人动作指令及任务描述；进而用于训练端到端的视觉运动策略模型，或作为基准测试环境评估算法在复杂组合操作任务上的性能。其清晰的任务划分与多传感器数据支持从行为克隆到离线强化学习等多种学习范式的实验验证。
背景与挑战
背景概述
在机器人操作与模仿学习领域，构建高质量、大规模的真实世界交互数据集是推动智能体泛化能力发展的关键。Agilex_Cobot_Magic_stack_block数据集应运而生，其依托于LeRobot框架的扩展格式，专注于家庭环境中的积木堆叠任务。该数据集由Agilex Robotics等机构的研究团队创建，旨在解决机器人灵巧操作中的复杂序列决策问题，通过672个交互片段与超过64万帧的多视角视觉数据，为模仿学习与强化学习算法提供了丰富的训练资源。其核心研究问题聚焦于如何使协作机器人能够根据视觉模板，在非结构化场景中完成精确的物体抓取、放置与组合，从而推动家庭服务机器人自主执行精细化操作任务的进展。
当前挑战
该数据集致力于应对机器人操作中视觉-运动协同的挑战，尤其是在多物体、多步骤的堆叠任务中，机器人需处理遮挡、光照变化及物体位姿估计等复杂视觉感知问题。同时，构建过程面临诸多困难：数据采集需在真实家庭环境中进行，涉及多传感器同步与海量数据存储，确保时序一致性成为技术难点；人工示教或遥操作标注成本高昂，且需保证任务指令的多样性与动作轨迹的精确性；此外，数据集还需兼容主流机器人学习框架，实现格式标准化与易用性，这对数据清洗、标注与结构化提出了严峻考验。
常用场景
经典使用场景
在机器人操作领域，Agilex_Cobot_Magic_stack_block数据集为模仿学习与强化学习算法提供了丰富的训练资源。该数据集聚焦于积木堆叠任务，通过多视角视觉传感器记录机械臂在家庭环境中的操作轨迹，涵盖了384种不同的子任务变体。这些任务涉及抓取、放置、空间排列等精细动作，为算法学习复杂操作策略奠定了数据基础。
衍生相关工作
围绕该数据集，已衍生出多项关于机器人模仿学习与视觉运动控制的经典研究工作。研究者利用其多视角视频与动作序列，开发了基于Transformer的行为克隆模型、分层强化学习框架以及零样本任务泛化方法。这些工作显著提升了机器人从演示中学习复杂长程任务的能力，并促进了LeRobot等开源机器人学习生态的完善与发展。
数据集最近研究
最新研究方向
在机器人操作领域，Agilex_Cobot_Magic_stack_block数据集凭借其丰富的多视角视觉数据和精细的积木堆叠任务，正成为推动模仿学习与强化学习融合研究的关键资源。该数据集以家庭客厅为场景，通过头部及双腕部摄像头捕捉操作过程，涵盖了数百种涉及颜色、位置与相对关系的子任务，为机器人理解复杂空间指令和实现精确抓取放置提供了高质量演示。当前研究热点聚焦于利用此类数据训练端到端的视觉运动策略模型，探索多模态指令跟随与长时程任务规划，旨在提升协作机器人在非结构化环境中的自适应能力，加速服务机器人向更智能、更灵巧的方向演进。
以上内容由遇见数据集搜集并总结生成
