| | --- |
| | task_categories: |
| | - robotics |
| |
|
| | language: |
| | - en |
| | - zh |
| |
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| |
|
| | 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: |
| |
|
| | Country: |
| | type: 'country' |
| | description: 'e.g., ''Germany'', ''China'', ''United States''' |
| |
|
| | Company/Organization: |
| | type: 'text' |
| | description: 'e.g., ''ETH Zurich'', ''Boston Dynamics'', ''Independent Researcher''' |
| |
|
| |
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| |
|
| | tags: |
| | - RoboCOIN |
| | - LeRobot |
| |
|
| | frame_range: 10K-100K |
| |
|
| | license: apache-2.0 |
| |
|
| | configs: |
| | - config_name: default |
| | data_files: data/*/*.parquet |
| | --- |
| | |
| | # Agibot_g1_Pick_apple |
| | |
| | **UUID:** `550e8400-e29b-41d4-a716-446655440000` |
| | |
| |  |
| | [Watch Video](./assets/videos/Agibot-g1_Pick_apple.mp4) |
| | |
| | ### Overview |
| | |
| | | Metric | Value | |
| | |--------|-------| |
| | | **Total Frames** | 50000 | |
| | | **Frame Rate (FPS)** | 30 | |
| | | **Total Episodes** | 100 | |
| | | **Total Tasks** | 100 | |
| | |
| | |
| | ### Primary Task Instruction |
| | > pick up the apple from the table and place it into the basket. |
| | |
| | ### Robot Configuration |
| | |
| | - **Robot Name:** `Agibot+G1edu-u3` |
| | - **Robot Type:** `G1edu-u3` |
| | - **Codebase Version:** `v2.1` |
| | - **End-Effector Name:** `['Agibot+two_finger_gripper', 'Agibot+three_finger_gripper']` |
| | - **End-Effector Type:** `two_finger_gripper, three_finger_gripper` |
| | - **Teleoperation Type:** `cable, wireless` |
| | |
| | ## 🏠 Scene and Objects |
| | |
| | ### Scene Type |
| | `home-kitchen` |
| | |
| | ### Objects |
| | - `table-furniture-table` |
| | - `basket-container-basket` |
| | |
| | |
| | ## 🎯 Task Descriptions |
| | |
| | - **Standardized Task Name:** `Agibot_g1_Pick_apple` |
| | - **Standardized Task Description:** `Left_arm+pick+apple` |
| | - **Operation Type:** `simgle_arm` |
| |
|
| | ### Sub-Tasks |
| | This dataset includes 3 distinct subtasks: |
| |
|
| | 1. **Grasp the apple with the left gripper** |
| | 2. **Place the apple into the basket with the left gripper** |
| | 3. **End** |
| |
|
| |
|
| | ### Atomic Actions |
| | - `pick` |
| | - `place` |
| | - `grasp` |
| |
|
| |
|
| | ## 🛠️ Hardware & Sensors |
| |
|
| | ### Sensors |
| | - `Depth_camera` |
| | - `RGB_camera` |
| | - `IMU` |
| | - `Force_sensor` |
| |
|
| |
|
| | ### Camera Information |
| | ['Camera 1: RGB, 1280x720, 30fps', 'Camera 2: RGB, 1280x720, 30fps', 'Camera 3: Depth, 640x480, 30fps'] |
| |
|
| | ### Coordinate System |
| | - **Definition:** `right_hand_frame` |
| | - **Origin (XYZ):** `[0, 0, 0]` |
| |
|
| | ### Dimensions & Units |
| | - **Joint Rotation:** `radian` |
| | - **End-Effector Rotation:** `radian` |
| | - **End-Effector Translation:** `meter` |
| | - **Base Rotation:** `radian` |
| | - **Base Translation:** `meter` |
| | - **Operation Platform Height:** `77.2 cm` |
| |
|
| | ## 📊 Dataset Statistics |
| |
|
| | | Metric | Value | |
| | |--------|-------| |
| | | **Total Episodes** | 100 | |
| | | **Total Frames** | 50000 | |
| | | **Total Tasks** | 100 | |
| | | **Total Videos** | 100 | |
| | | **Total Chunks** | 10 | |
| | | **Chunk Size** | 10 | |
| | | **FPS** | 30 | |
| | | **Total Duration** | 27:46:40 | |
| | | **Video Resolution** | 1280x720 | |
| | | **State Dimensions** | 14 | |
| | | **Action Dimensions** | 7 | |
| | | **Camera Views** | 3 | |
| | | **Dataset Size** | 2.7GB | |
| |
|
| |
|
| | ## 📂 Data Splits |
| |
|
| | The dataset is organized into the following splits: |
| |
|
| | - **Training**: Episodes 0:89 |
| | - **Validation**: Episodes 89:99 |
| | - **Test**: Episodes 99:109 |
| |
|
| |
|
| | ## 📁 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 10 chunk(s) |
| | of size 10 |
| |
|
| |
|
| | ## 🎥 Camera Views |
| |
|
| | This dataset includes 3 camera views. |
| |
|
| | ### Features Schema |
| |
|
| | The dataset includes the following features: |
| |
|
| | #### Visual Observations |
| | - **observation.images.camera_1**: video |
| | - FPS: 30 |
| | - Codec: h264 |
| | |
| | #### State and Action |
| | |
| | - **observation.state**: float32 |
| | |
| | |
| | - **action**: float32 |
| | |
| | |
| | #### Temporal Information |
| | |
| | - **timestamp**: float64 |
| | |
| | |
| | - **frame_index**: int64 |
| |
|
| |
|
| | - **episode_index**: int64 |
| | |
| | |
| | |
| | |
| | #### Annotations |
| | |
| | - **subtask_annotation**: string |
| |
|
| |
|
| | - **scene_annotation**: string |
| | |
| | |
| | #### Motion Features |
| | |
| | - **eef_sim_pose_state**: float32 |
| | - Dimensions: x, y, z, qx, qy, qz, qw |
| |
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| |
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| |
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| |
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| |
|
| | #### Gripper Features |
| |
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| |
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| |
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| |
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| |
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| |
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| |
|
| | ### Meta Information |
| |
|
| | The complete dataset metadata is available in [meta/info.json](meta/info.json): |
| |
|
| | ```json |
| | { |
| | "info": "Complete metadata available in meta/info.json" |
| | } |
| | ``` |
| |
|
| | ### Directory Structure |
| |
|
| | The dataset is organized as follows (showing leaf directories with first 5 files only): |
| |
|
| | ``` |
| | dataset/ |
| | ├── data/ |
| | │ └── chunk-*/episode_*.parquet |
| | ├── videos/ |
| | │ └── chunk-*/camera_*/episode_*.mp4 |
| | ├── meta/ |
| | │ └── info.json |
| | └── README.md |
| | |
| | ``` |
| |
|
| | ## 🏷️ Available Annotations |
| |
|
| | This dataset includes rich annotations to support diverse learning approaches: |
| |
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| |
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| |
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| |
|
| |
|
| | ### 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 |
| |
|
| |
|
| | ## 🏷️ Dataset Tags |
| |
|
| | - `RoboCOIN` |
| | - `LeRobot` |
| |
|
| |
|
| | ## 👥 Authors |
| |
|
| | ### Contributors |
| | This dataset is contributed by: |
| | - RoboCOIN |
| | - [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/) |
| | - RoboCOIN Team |
| |
|
| |
|
| | ## 🔗 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) |
| | - **📜 License:** apache-2.0 |
| |
|
| | ## 📞 Contact and Support |
| |
|
| | For questions, issues, or feedback regarding this dataset, please contact: |
| | - **Email:** robocoin@baai.ac.cn |
| | For questions, issues, or feedback regarding this dataset, please contact us. |
| | ### Support |
| | For technical support, please open an issue on our GitHub repository. |
| |
|
| | ## 📄 License |
| |
|
| | This dataset is released under the **apache-2.0** license. |
| |
|
| | Please refer to the LICENSE file for full license terms and conditions. |
| |
|
| | ## 📚 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={...}, |
| | 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 |
| |
|
| | ## Version History |
| | - v1.0.0 (2025-11): Initial release |
| |
|
