RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation

Understand

Despite the critical role of bimanual manipulation in endowing robots with human-like dexterity, large-scale and diverse datasets remain scarce due to the significant hardware heterogeneity across bimanual robotic platforms.

• To bridge this gap, we introduce RoboCOIN, a large-scale multi-embodiment bimanual manipulation dataset comprising over 180,000 demonstrations collected from 15 distinct robotic platforms.
• Spanning 16 diverse environments-including residential, commercial, and industrial settings-the dataset features 421 bimanual tasks systematically categorized by 39 bimanual collaboration actions and 432 objects.
• A key innovation of our work is the hierarchical capability pyramid, which provides granular annotations ranging from trajectory-level concepts to segment-level subtasks and frame-level kinematics.