RMC-AIDA-L_food_packaging

# RMC-AIDA-L_food_packaging

## 📋 Overview

This dataset uses an extended format based on [LeRobot](https://github.com/huggingface/lerobot) and is fully compatible with LeRobot.

**Robot Type:** `realman_rmc_aidal`
| **Codebase Version:** `v2.1`

## 📊 Dataset Statistics

| Metric | Value |
|--------|-------|
| **Total Episodes** | 497 |
| **Total Frames** | 817652 |
| **Total Tasks** | 2 |
| **Total Videos** | 1491 |
| **Total Chunks** | 1 |
| **Chunk Size** | 1000 |
| **FPS** | 30 |

## 👥 Authors

### Contributors
This dataset is contributed by:
- @BAAI-RoboCOIN Team
- @Beijing Academy of Artificial Intelligence

## 🔗 Links

- **🏠 Homepage:** [https://RoboCoin.github.io/](https://RoboCoin.github.io/)
- **📄 Paper:** [in comming](in comming)
- **💻 Repository:** [https://github.com/RoboCoin/robocoin-dataset](https://github.com/RoboCoin/robocoin-dataset)
- **🌐 Project Page:** [https://RoboCoin.github.io/](https://RoboCoin.github.io/)
- **📜 License:** apache-2.0

## 🏷️ Dataset Tags

- `RoboCoin`
- `LeRobot`

## 🎯 Task Descriptions

### Primary Tasks
the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.
the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, bananna and peach and place them into the bag, the right gripper zip up the bag.

### Sub-Tasks
This dataset includes 16 distinct subtasks:

1. **end**
2. **Grab the peach with your right hand.**
3. **Grab the pear with your right hand.**
4. **Hold the lunch bag with your left hand.**
5. **Hold the lunch bag with your right hand.**
6. **null**
7. **Pick up the cucumber with your right hand.**
8. **Pick up the lunch box with your right hand.**
9. **Place the lunch box into the lunch bag with your right hand.**
10. **Place the peach into the lunch bag with your right hand.**
11. **Place the pear into the lunch bag with your right hand.**
12. **Put the banana into the lunch bag with your right hand.**
13. **Put the cucumber into the lunch bag with your right hand.**
14. **Secure the lunch bag with your left hand.**
15. **Take the banana with your right hand.**
16. **Zip up the lunch bag with your right hand.**

## 🎥 Camera Views

This dataset includes 14 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 0:496

## 📁 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.cam_high_rgb**: video
- FPS: 30
- Codec: av1- **observation.images.cam_left_wrist_rgb**: video
- FPS: 30
- Codec: av1- **observation.images.cam_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
- **gripper_open_scale_state**: float32
- Dimensions: left_gripper_open_scale, right_gripper_open_scale
- **gripper_open_scale_action**: float32
- Dimensions: left_gripper_open_scale, right_gripper_open_scale
- **gripper_mode_state**: int32
- Dimensions: left_gripper_mode, right_gripper_mode
- **gripper_mode_action**: int32
- Dimensions: left_gripper_mode, right_gripper_mode
- **gripper_activity_state**: int32
- Dimensions: left_gripper_activity, right_gripper_activity

### Meta Information

The complete dataset metadata is available in [meta/info.json](meta/info.json):

```json
{"codebase_version": "v2.1", "robot_type": "realman_rmc_aidal", "total_episodes": 497, "total_frames": 817652, "total_tasks": 2, "total_videos": 1491, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": {"train": "0:496"}, "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.cam_high_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": ["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_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", "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_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"]}, "action": {"dtype": "float32", "shape": [28], "names": ["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_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", "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_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"]}, "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]}, "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]}, "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]}}}
```

### Directory Structure

The dataset is organized as follows (showing leaf directories with first 5 files only):

```
RMC-AIDA-L_food_packaging_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.cam_high_rgb/
│ ├── episode_000000.mp4
│ ├── episode_000001.mp4
│ ├── episode_000002.mp4
│ ├── episode_000003.mp4
│ ├── episode_000004.mp4
│ └── (...)
├── observation.images.cam_left_wrist_rgb/
│ ├── episode_000000.mp4
│ ├── episode_000001.mp4
│ ├── episode_000002.mp4
│ ├── episode_000003.mp4
│ ├── episode_000004.mp4
│ └── (...)
└── observation.images.cam_right_wrist_rgb/
├── episode_000000.mp4
├── episode_000001.mp4
├── episode_000002.mp4
├── episode_000003.mp4
├── episode_000004.mp4
└── (...)
```

## 📄 License

This dataset is released under the **apache-2.0** license.

Please refer to the LICENSE file for full license terms and conditions.

## 📌 Version Information

## Version History
- v1.0.0 (2025-11): Initial release