RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation
Abstract
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. Furthermore, we present CoRobot, an efficient data processing pipeline powered by the Robot Trajectory Markup Language (RTML), designed to facilitate quality assessment, automated annotation, and unified multi-embodiment and data management. Extensive experiments demonstrate the effectiveness of RoboCOIN in enhancing the performance of various bimanual manipulation models across a wide spectrum of robotic embodiments. The entire dataset and codebase are fully open-sourced, providing a valuable resource for advancing research in bimanual and multi-embodiment manipulation.
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@article{arxiv.2511.17441,
title = {RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},
author = {Shihan Wu and Xuecheng Liu and Shaoxuan Xie and Pengwei Wang and Xinghang Li and Bowen Yang and Zhe Li and Kai Zhu and Hongyu Wu and Yiheng Liu and Zhaoye Long and Runtian Xu and Yue Wang and Chong Liu and Dihan Wang and Ziqiang Ni and Xiang Yang and You Liu and Ruoxuan Feng and Lei Zhang and Denghang Huang and Chenghao Jin and Anlan Yin and Xinlong Wang and Zhenguo Sun and Junkai Zhao and Mengfei Du and Mingyu Cao and Xiansheng Chen and Hongyang Cheng and Xiaojie Zhang and Yankai Fu and Ning Chen and Cheng Chi and Sixiang Chen and Huaihai Lyu and Xiaoshuai Hao and Yequan Wang and Bo Lei and Dong Liu and Xi Yang and Yance Jiao and Tengfei Pan and Yunyan Zhang and Songjing Wang and Ziqian Zhang and Xu Liu and Ji Zhang and Caowei Meng and Zhizheng Zhang and Jiyang Gao and Song Wang and Xiaokun Leng and Zhiqiang Xie and Zhenzhen Zhou and Peng Huang and Wu Yang and Yandong Guo and Yichao Zhu and Suibing Zheng and Hao Cheng and Xinmin Ding and Yang Yue and Huanqian Wang and Chi Chen and Jingrui Pang and YuXi Qian and Haoran Geng and Lianli Gao and Haiyuan Li and Bin Fang and Gao Huang and Yaodong Yang and Hao Dong and He Wang and Hang Zhao and Yadong Mu and Di Hu and Hao Zhao and Tiejun Huang and Shanghang Zhang and Yonghua Lin and Zhongyuan Wang and Guocai Yao},
journal= {arXiv preprint arXiv:2511.17441},
year = {2026}
}
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