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