| --- |
| task_categories: |
| - robotics |
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| 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.' |
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| extra_gated_fields: |
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| Country: |
| type: 'country' |
| description: 'e.g., ''Germany'', ''China'', ''United States''' |
|
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| Company/Organization: |
| type: 'text' |
| description: 'e.g., ''ETH Zurich'', ''Boston Dynamics'', ''Independent Researcher''' |
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| tags: |
| - RoboCOIN |
| - LeRobot |
| - Test |
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| frame_range: 10K-100K |
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| license: apache-2.0 |
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| 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** |
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|
|
| ### Atomic Actions |
| - `pick` |
| - `place` |
| - `grasp` |
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|
|
| ## 🛠️ Hardware & Sensors |
|
|
| ### Sensors |
| - `Depth_camera` |
| - `RGB_camera` |
| - `IMU` |
| - `Force_sensor` |
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|
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| ### 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 |
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| - **episode_index**: int64 |
| |
| |
| |
| |
| #### Annotations |
| |
| - **subtask_annotation**: string |
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| - **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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| #### Gripper Features |
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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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|
|
| ### 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 |
|
|
