| 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 |
|
|
