AtomBench CobotMagic Dataset

A dual-arm robot manipulation dataset collected on a Cobot Magic robot platform, designed for evaluating robotic learning policies. The dataset contains 15 tasks (8 manipulation tasks + 7 instruction-following tasks), each with 100 expert demonstration episodes.

Dataset Summary

Item	Value
Robot	Cobot Magic (Dual-arm)
Total Tasks	15
Episodes per Task	100
Total Episodes	1,500
FPS	30
Camera Views	3 (top, left, right)
Video Resolution	640×480
Video Codec	H.264 (libx264)
Data Format	LeRobot v2.1

Tasks

Manipulation Tasks (dm1–dm8)

ID	Task Prompt
dm1	Pick up the basket with the left hand and place the cube into the basket with the right hand.
dm2	Pick up the basket with the left hand and place the ball into the basket with the right hand.
dm3	Place the bottles upright on the tray.
dm4	Push the two cubes into the marked area.
dm5	Pick up the bowl with the left hand and pour the coffee beans from the cup into the bowl with the right hand.
dm6	Open the drawer with the left hand, place the block into the drawer with the right hand, then close the drawer with the left hand.
dm7	Pick up one cube with the left hand and another cube with the right hand. First place the cube in the right hand at the target position, then stack the cube in the left hand on top.
dm8	Open the box lid with the left hand, place the block into the box with the right hand, then close the box lid with the left hand.

Instruction-Following Tasks (di1–di7)

ID	Task Prompt
di1	Pick up the basket with the left hand and place the blue cube into the basket with the right hand.
di2	Pick up the basket with the left hand and place the triangular block into the basket with the right hand.
di3	Pick up the basket with the left hand and place the largest block into the basket with the right hand.
di4	Pick up the basket with the left hand and place the object to the left of the red cylinder into the basket with the right hand.
di5	Pick up one cube with each hand and place exactly two cubes into the same basket, leaving the remaining cube outside.
di6	Pick up one cube with the left hand and place it into the upper basket. Pick up one cube with the right hand and place it into the lower basket.
di7	Place all geometric objects except the red cube into the basket.

Dataset Structure

agilex/
├── README.md
├── {task_name}/
│   ├── meta/
│   │   ├── info.json          # Dataset metadata
│   │   ├── episodes.jsonl     # Episode metadata
│   │   └── tasks.jsonl        # Task descriptions
│   ├── data/
│   │   └── chunk-000/
│   │       ├── episode_000000.parquet
│   │       ├── episode_000001.parquet
│   │       └── ...
│   └── videos/
│       └── chunk-000/
│           ├── image_top/
│           │   ├── episode_000000.mp4
│           │   └── ...
│           ├── image_left/
│           │   ├── episode_000000.mp4
│           │   └── ...
│           └── image_right/
│               ├── episode_000000.mp4
│               └── ...
└── ...

Features

Each episode frame contains:

Feature	Type	Shape	Description
action	float32	(14,)	Leader joint positions (right arm + left arm)
observation.state	float32	(26,)	Follower joint positions + end-effector poses (both arms)
observation.images.image_top	video	(480, 640, 3)	Top camera view
observation.images.image_left	video	(480, 640, 3)	Left camera view
observation.images.image_right	video	(480, 640, 3)	Right camera view
timestamp	float32	(1,)	Frame timestamp
frame_index	int64	(1,)	Frame index within episode
episode_index	int64	(1,)	Episode index
index	int64	(1,)	Global frame index
task_index	int64	(1,)	Task index

Action Space (14-dim)

Dim	Name
0–5	Right arm joint positions (6 DoF)
6	Right gripper position
7–12	Left arm joint positions (6 DoF)
13	Left gripper position

Observation State Space (26-dim)

Dim	Name
0–5	Right arm joint positions (6 DoF)
6	Right gripper position
7–12	Right end-effector pose (x, y, z, rx, ry, rz)
13–18	Left arm joint positions (6 DoF)
19	Left gripper position
20–25	Left end-effector pose (x, y, z, rx, ry, rz)

Usage

from lerobot.common.datasets.lerobot_dataset import LeRobotDataset

dataset = LeRobotDataset(
    repo_id="AtomBench/CobotMagic",
    root="path/to/local/cobotmagic",
)

Citation

If you use this dataset in your research, please cite:

@misc{atombench,
  author = {AtomBench Team},
  title = {AtomBench CobotMagic: A Dual-Arm Robot Manipulation Dataset},
  year = {2026},
  publisher = {Hugging Face},
  howpublished = {\url{https://huggingface.co/AtomBench}}
}

License

This dataset is released under the Apache 2.0 License.