Datasets:

RogersPyke
/

ReadmeTest1

	---
	task_categories:
	- robotics

	language:
	- en
	- zh


	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'''



	tags:
	- RoboCOIN
	- LeRobot

	license: apache-2.0

	configs:
	- config_name: default
	data_files: data//.parquet
	---

	# Agibot_g1_Pick_apple

	### Overview- Total Episodes: 100
	- Total Frames: 50000
	- FPS: 30
	- Dataset Size: 2.7GB
	- Robot Name: `Agibot+G1edu-u3`
	- End-Effector Name: `Agibot+two_finger_gripper, Agibot+three_finger_gripper`
	- Scene: `home-kitchen`
	- Objects: `table-furniture-table`,
	`basket-container-basket`

	- Task Description: Left_arm+pick+apple### 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`
	- Task Result: `success`
	- Environment Type: `simulation`

	### 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 and 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 \|

	- Frame Range Label: `10K-100K`
	- Data Schema: LeRobot-compatible format with parquet data files and MP4 video files

	## 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

	### Data Structure (Tree)

	```
	dataset/
	├── data/
	│ ├── chunk-000/
	│ │ ├── episode_000000.parquet
	│ │ └── episode_000001.parquet
	│ └── chunk-001/
	│ ├── episode_000010.parquet
	│ └── episode_000011.parquet
	├── videos/
	│ ├── chunk-000/
	│ │ ├── camera_1/
	│ │ │ ├── episode_000000.mp4
	│ │ │ └── episode_000001.mp4
	│ │ └── camera_2/
	│ │ ├── episode_000000.mp4
	│ │ └── episode_000001.mp4
	│ └── chunk-001/
	│ └── ...
	├── meta/
	│ └── info.json
	└── README.md

	```

	## Camera Views

	This dataset includes 3 camera views.

	## Features (Full YAML)

	```yaml
	observation.images.camera_1:
	dtype: video
	shape:
	- 720
	- 1280
	- 3
	names:
	- height
	- width
	- channels
	info:
	video.fps: 30
	video.codec: h264
	observation.state:
	dtype: float32
	shape:
	- 14
	names:
	- joint_1
	- joint_2
	- '...'
	action:
	dtype: float32
	shape:
	- 7
	names:
	- action_1
	- action_2
	- '...'
	timestamp:
	dtype: float64
	frame_index:
	dtype: int64
	episode_index:
	dtype: int64
	subtask_annotation:
	dtype: string
	scene_annotation:
	dtype: string
	eef_sim_pose_state:
	dtype: float32
	shape:
	- 7
	names:
	- x
	- y
	- z
	- qx
	- qy
	- qz
	- qw

	```

	## 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:

	- `subtask_annotation`
	- `scene_annotation`
	- `eef_direction`
	- `eef_velocity`
	- `eef_acc_mag`
	- `gripper_mode`
	- `gripper_activity`


	## Dataset Tags

	- `RoboCOIN`
	- `LeRobot`


	## Authors

	### Contributors
	This dataset is contributed by:-[RoboCOIN](https://flagopen.github.io/RoboCOIN/) - RoboCOIN Team

	### Annotators
	This dataset is annotated 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


	## Dataset Description

	This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.