info.yaml

task_categories:
- robotics
language:
- en
tags:
- RoboCOIN
- LeRobot
license: apache-2.0
configs:
- config_name: default
  data_files: data/chunk-{id}/episode_{id}.parquet
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:
  Company/Organization:
    type: text
    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
  Country:
    type: country
    description: e.g., "Germany", "China", "United States"
codebase_version: v2.1
dataset_name: Galaxea_R1_Lite_classify_object_five
dataset_uuid: 00000000-0000-0000-0000-000000000000
scene_type:
  level1: commercial_convenience
  level2: supermarket
  level3: null
  level4: null
  level5: null
env_type: Due to some reasons, this dataset temporarily cannot provide the environment
  type information.
objects:
- object_name: brown_basket
  level1: baskets
  level2: brown_basket
  level3: null
  level4: null
  level5: null
- object_name: yellow_basket
  level1: baskets
  level2: yellow_basket
  level3: null
  level4: null
  level5: null
- object_name: any_fruits
  level1: fruits
  level2: any_fruits
  level3: null
  level4: null
  level5: null
- object_name: any_vegetables
  level1: vegetables
  level2: any_vegetables
  level3: null
  level4: null
  level5: null
- object_name: any_snacks
  level1: snacks
  level2: any_snacks
  level3: null
  level4: null
  level5: null
- object_name: any_bread
  level1: bread
  level2: any_bread
  level3: null
  level4: null
  level5: null
task_operation_type: Due to some reasons, this dataset temporarily cannot provide
  the operation type information.
task_instruction:
- place the food in the right basket with the right gripper, and place the non food
  items in the left basket with the left gripper.
sub_tasks:
- subtask: Grasp the rubiks cube and put it in the left basket
  subtask_index: 0
- subtask: Grasp the waffle and put it in the right basket
  subtask_index: 1
- subtask: Grasp the soft cleanser and put it in the left basket
  subtask_index: 2
- subtask: Grasp the back scratcher and put it in the left basket
  subtask_index: 3
- subtask: Grasp the apple and put it in the right basket
  subtask_index: 4
- subtask: End
  subtask_index: 5
- subtask: Grasp the white eraser and put it in the left basket
  subtask_index: 6
- subtask: Grasp the square chewing gum and put it in the right basket
  subtask_index: 7
- subtask: Grasp the power strip and put it in the left basket
  subtask_index: 8
- subtask: Grasp the cleaning agent and put it in the left basket
  subtask_index: 9
- subtask: Grasp the soda water and put it in the right basket
  subtask_index: 10
- subtask: Grasp the spoon and put it in the left basket
  subtask_index: 11
- subtask: Grasp the duck toys and put it in the left basket
  subtask_index: 12
- subtask: Grasp the triangle cake and put it in the right basket
  subtask_index: 13
- subtask: Grasp the compass and put it in the right basket
  subtask_index: 14
- subtask: Grasp the cookie and put it in the right basket
  subtask_index: 15
- subtask: Grasp the compass and put it in the left basket
  subtask_index: 16
- subtask: Grasp the orange and put it in the right basket
  subtask_index: 17
- subtask: Grasp the ballpoint pen and put it in the left basket
  subtask_index: 18
- subtask: Grasp the round bread and put it in the right basket
  subtask_index: 19
- subtask: Grasp the egg yolk pastry and put it in the right basket
  subtask_index: 20
- subtask: Grasp the lemon and put it in the right basket
  subtask_index: 21
- subtask: Grasp the soap and put it in the left basket
  subtask_index: 22
- subtask: Grasp the washing liquid and put it in the left basket
  subtask_index: 23
- subtask: Grasp the hard cleanser and put it in the left basket
  subtask_index: 24
- subtask: Grasp the milk and put it in the right basket
  subtask_index: 25
- subtask: Grasp the black marker and put it in the left basket
  subtask_index: 26
- subtask: Grasp the banana and put it in the right basket
  subtask_index: 27
- subtask: Grasp the black glass cup and put it in the left basket
  subtask_index: 28
- subtask: Grasp the brush and put it in the left basket
  subtask_index: 29
- subtask: Grasp the bath ball and put it in the left basket
  subtask_index: 30
- subtask: Grasp the blue towel and put it in the left basket
  subtask_index: 31
- subtask: Grasp the tea cup and put it in the left basket
  subtask_index: 32
- subtask: Grasp the peeler and put it in the left basket
  subtask_index: 33
- subtask: Grasp the brown towel and put it in the left basket
  subtask_index: 34
- subtask: Grasp the peach and put it in the right basket
  subtask_index: 35
- subtask: Abnormal
  subtask_index: 36
- subtask: Grasp the chocolate and put it in the right basket
  subtask_index: 37
- subtask: Grasp the grey towel and put it in the left basket
  subtask_index: 38
- subtask: Grasp the canned cola and put it in the right basket
  subtask_index: 39
- subtask: Grasp the tape and put it in the left basket
  subtask_index: 40
- subtask: Grasp the bread slice and put it in the right basket
  subtask_index: 41
- subtask: Grasp the tin and put it in the right basket
  subtask_index: 42
- subtask: Grasp the soap and put it in the right basket
  subtask_index: 43
- subtask: Grasp the glasses case and put it in the left basket
  subtask_index: 44
- subtask: Grasp the yellow duck and put it in the right basket
  subtask_index: 45
- subtask: Grasp the peach doll and put it in the right basket
  subtask_index: 46
- subtask: Grasp the blue cup and put it in the left basket
  subtask_index: 47
- subtask: Grasp the pen container and put it in the left basket
  subtask_index: 48
- subtask: Grasp the red duck and put it in the left basket
  subtask_index: 49
- subtask: Grasp the lime and put it in the right basket
  subtask_index: 50
- subtask: Grasp the long bread and put it in the right basket
  subtask_index: 51
- subtask: Grasp the yogurt and put it in the right basket
  subtask_index: 52
- subtask: Grasp the potato chips and put it in the right basket
  subtask_index: 53
- subtask: Grasp the can and put it in the right basket
  subtask_index: 54
- subtask: Grasp the ad milk and put it in the right basket
  subtask_index: 55
- subtask: Grasp the blue marker and put it in the left basket
  subtask_index: 56
- subtask: 'null'
  subtask_index: 57
atomic_actions:
- grasp
- pick
- place
robot_name:
- Galaxea_R1_Lite
end_effector_type: two_finger_gripper
tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
  type information.
sensor_list:
- cam_head_left_rgb
- cam_head_right_rgb
- cam_left_wrist_rgb
- cam_right_wrist_rgb
came_info:
  cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1,
    pix_fmt=yuv420p
  cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1,
    pix_fmt=yuv420p
  cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1,
    pix_fmt=yuv420p
  cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1,
    pix_fmt=yuv420p
depth_enabled: false
coordinate_definition: right-hand-frame
joint_rotation_dim: radian
end_rotation_dim: end_rotation_dim
end_translation_dim: end_translation_dim
annotations:
- eef_acc_mag_annotation.jsonl
- eef_direction_annotation.jsonl
- eef_velocity_annotation.jsonl
- gripper_activity_annotation.jsonl
- gripper_mode_annotation.jsonl
- scene_annotations.jsonl
- subtask_annotations.jsonl
statistics:
  total_episodes: 195
  total_frames: 160875
  fps: 30
  total_tasks: 58
  total_videos: 780
  total_chunks: 1
  chunks_size: 1000
  state_dim: 14
  action_dim: 14
  camera_views: 4
  dataset_size: 8.91 GB
frame_num: 160875
dataset_size: 8.91 GB
data_structure: 'Galaxea_R1_Lite_classify_object_five_qced_hardlink/

  |-- annotations

  |   |-- eef_acc_mag_annotation.jsonl

  |   |-- eef_direction_annotation.jsonl

  |   |-- eef_velocity_annotation.jsonl

  |   |-- gripper_activity_annotation.jsonl

  |   |-- gripper_mode_annotation.jsonl

  |   |-- scene_annotations.jsonl

  |   `-- subtask_annotations.jsonl

  |-- data

  |   `-- chunk-000

  |       |-- episode_000000.parquet

  |       |-- episode_000001.parquet

  |       |-- episode_000002.parquet

  |       |-- episode_000003.parquet

  |       |-- episode_000004.parquet

  |       |-- episode_000005.parquet

  |       |-- episode_000006.parquet

  |       |-- episode_000007.parquet

  |       |-- episode_000008.parquet

  |       |-- episode_000009.parquet

  |       |-- episode_000010.parquet

  |       `-- episode_000011.parquet

  |       `-- ... (183 more entries)

  |-- meta

  |   |-- episodes.jsonl

  |   |-- episodes_stats.jsonl

  |   |-- info.json

  |   `-- tasks.jsonl

  |-- videos

  |   `-- chunk-000

  |       |-- observation.images.cam_head_left_rgb

  |       |-- observation.images.cam_head_right_rgb

  |       |-- observation.images.cam_left_wrist_rgb

  |       `-- observation.images.cam_right_wrist_rgb

  |-- info.yaml

  `-- README.md'
splits:
  train: 0:194
features:
  observation.images.cam_head_left_rgb:
    dtype: video
    shape:
    - 720
    - 1280
    - 3
    names:
    - height
    - width
    - channels
    info:
      video.height: 720
      video.width: 1280
      video.codec: av1
      video.pix_fmt: yuv420p
      video.is_depth_map: false
      video.fps: 30
      video.channels: 3
      has_audio: false
  observation.images.cam_head_right_rgb:
    dtype: video
    shape:
    - 720
    - 1280
    - 3
    names:
    - height
    - width
    - channels
    info:
      video.height: 720
      video.width: 1280
      video.codec: av1
      video.pix_fmt: yuv420p
      video.is_depth_map: false
      video.fps: 30
      video.channels: 3
      has_audio: false
  observation.images.cam_left_wrist_rgb:
    dtype: video
    shape:
    - 720
    - 1280
    - 3
    names:
    - height
    - width
    - channels
    info:
      video.height: 720
      video.width: 1280
      video.codec: av1
      video.pix_fmt: yuv420p
      video.is_depth_map: false
      video.fps: 30
      video.channels: 3
      has_audio: false
  observation.images.cam_right_wrist_rgb:
    dtype: video
    shape:
    - 720
    - 1280
    - 3
    names:
    - height
    - width
    - channels
    info:
      video.height: 720
      video.width: 1280
      video.codec: av1
      video.pix_fmt: yuv420p
      video.is_depth_map: false
      video.fps: 30
      video.channels: 3
      has_audio: false
  observation.state:
    dtype: float32
    shape:
    - 14
    names:
    - left_arm_joint_1_rad
    - left_arm_joint_2_rad
    - left_arm_joint_3_rad
    - left_arm_joint_4_rad
    - left_arm_joint_5_rad
    - left_arm_joint_6_rad
    - right_arm_joint_1_rad
    - right_arm_joint_2_rad
    - right_arm_joint_3_rad
    - right_arm_joint_4_rad
    - right_arm_joint_5_rad
    - right_arm_joint_6_rad
    - left_gripper_open
    - right_gripper_open
  action:
    dtype: float32
    shape:
    - 14
    names:
    - left_arm_joint_1_rad
    - left_arm_joint_2_rad
    - left_arm_joint_3_rad
    - left_arm_joint_4_rad
    - left_arm_joint_5_rad
    - left_arm_joint_6_rad
    - right_arm_joint_1_rad
    - right_arm_joint_2_rad
    - right_arm_joint_3_rad
    - right_arm_joint_4_rad
    - right_arm_joint_5_rad
    - right_arm_joint_6_rad
    - left_gripper_open
    - right_gripper_open
  timestamp:
    dtype: float32
    shape:
    - 1
    names: null
  frame_index:
    dtype: int64
    shape:
    - 1
    names: null
  episode_index:
    dtype: int64
    shape:
    - 1
    names: null
  index:
    dtype: int64
    shape:
    - 1
    names: null
  task_index:
    dtype: int64
    shape:
    - 1
    names: null
  subtask_annotation:
    names: null
    shape:
    - 5
    dtype: int32
  scene_annotation:
    names: null
    shape:
    - 1
    dtype: int32
  eef_sim_pose_state:
    names:
    - left_eef_pos_x
    - left_eef_pos_y
    - left_eef_pos_z
    - left_eef_rot_x
    - left_eef_rot_y
    - left_eef_rot_z
    - right_eef_pos_x
    - right_eef_pos_y
    - right_eef_pos_z
    - right_eef_rot_x
    - right_eef_rot_y
    - right_eef_rot_z
    shape:
    - 12
    dtype: float32
  eef_sim_pose_action:
    names:
    - left_eef_pos_x
    - left_eef_pos_y
    - left_eef_pos_z
    - left_eef_rot_x
    - left_eef_rot_y
    - left_eef_rot_z
    - right_eef_pos_x
    - right_eef_pos_y
    - right_eef_pos_z
    - right_eef_rot_x
    - right_eef_rot_y
    - right_eef_rot_z
    shape:
    - 12
    dtype: float32
  eef_direction_state:
    names:
    - left_eef_direction
    - right_eef_direction
    shape:
    - 2
    dtype: int32
  eef_direction_action:
    names:
    - left_eef_direction
    - right_eef_direction
    shape:
    - 2
    dtype: int32
  eef_velocity_state:
    names:
    - left_eef_velocity
    - right_eef_velocity
    shape:
    - 2
    dtype: int32
  eef_velocity_action:
    names:
    - left_eef_velocity
    - right_eef_velocity
    shape:
    - 2
    dtype: int32
  eef_acc_mag_state:
    names:
    - left_eef_acc_mag
    - right_eef_acc_mag
    shape:
    - 2
    dtype: int32
  eef_acc_mag_action:
    names:
    - left_eef_acc_mag
    - right_eef_acc_mag
    shape:
    - 2
    dtype: int32
  gripper_open_scale_state:
    names:
    - left_gripper_open_scale
    - right_gripper_open_scale
    shape:
    - 2
    dtype: float32
  gripper_open_scale_action:
    names:
    - left_gripper_open_scale
    - right_gripper_open_scale
    shape:
    - 2
    dtype: float32
  gripper_mode_state:
    names:
    - left_gripper_mode
    - right_gripper_mode
    shape:
    - 2
    dtype: int32
  gripper_mode_action:
    names:
    - left_gripper_mode
    - right_gripper_mode
    shape:
    - 2
    dtype: int32
  gripper_activity_state:
    names:
    - left_gripper_activity
    - right_gripper_activity
    shape:
    - 2
    dtype: int32
  gripper_activity_action:
    names:
    - left_gripper_activity
    - right_gripper_activity
    shape:
    - 2
    dtype: int32
authors:
  contributed_by:
  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
dataset_description: This dataset uses an extended format based on LeRobot and is
  fully compatible with LeRobot.
homepage: https://flagopen.github.io/RoboCOIN/
paper: https://arxiv.org/abs/2511.17441
repository: https://github.com/FlagOpen/RoboCOIN
contact_info: For questions, issues, or feedback regarding this dataset, please contact
  us.
support_info: For technical support, please open an issue on our GitHub repository.
license_details: apache-2.0
citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
additional_citations: 'If you use this dataset, please also consider citing:

  LeRobot Framework: https://github.com/huggingface/lerobot

  '
version_info: Initial Release
data_path: data/chunk-{id}/episode_{id}.parquet
video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4