Update RoboCOIN assets
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- dataset_info/Galbot_G1_bag_table_trash_1.yaml +521 -0
- dataset_info/Galbot_G1_bag_table_trash_2.yaml +461 -0
- dataset_info/Galbot_G1_clear_sink_1.yaml +502 -0
- dataset_info/Galbot_G1_clear_sink_trash_1.yaml +506 -0
- dataset_info/Galbot_G1_clear_table_trash_1.yaml +508 -0
- dataset_info/Galbot_G1_clear_table_trash_2.yaml +533 -0
- dataset_info/Galbot_G1_clear_table_trash_3.yaml +504 -0
- dataset_info/Galbot_G1_discard_towel_1.yaml +507 -0
- dataset_info/Galbot_G1_fold_clothes_3.yaml +491 -0
- dataset_info/Galbot_G1_fold_clothes_4.yaml +495 -0
- dataset_info/Galbot_G1_hang_clothes.yaml +495 -0
- dataset_info/Galbot_G1_hang_clothes_1.yaml +494 -0
- dataset_info/Galbot_G1_hang_clothes_2.yaml +491 -0
- dataset_info/Galbot_G1_hang_clothes_3.yaml +509 -0
- dataset_info/Galbot_G1_line_trash_can.yaml +511 -0
- dataset_info/Galbot_G1_line_trash_can_1.yaml +509 -0
- dataset_info/Galbot_G1_line_trash_can_2.yaml +494 -0
- dataset_info/Galbot_G1_line_trash_can_3.yaml +510 -0
- dataset_info/Galbot_G1_line_trash_can_4.yaml +511 -0
- dataset_info/Galbot_G1_load_floor_trash.yaml +503 -0
- dataset_info/Galbot_G1_load_floor_trash_1.yaml +534 -0
- dataset_info/Galbot_G1_load_floor_trash_2.yaml +526 -0
- dataset_info/Galbot_G1_load_floor_trash_4.yaml +534 -0
- dataset_info/Galbot_G1_load_floor_trash_6.yaml +538 -0
- dataset_info/Galbot_G1_load_floor_trash_7.yaml +536 -0
- dataset_info/Galbot_G1_move_stamp.yaml +514 -0
- dataset_info/Galbot_G1_move_takeout_bag.yaml +510 -0
- dataset_info/Galbot_G1_organize_table.yaml +516 -0
- dataset_info/Galbot_G1_pick_floor_trash.yaml +509 -0
- dataset_info/Galbot_G1_pick_floor_trash_1.yaml +511 -0
- dataset_info/Galbot_G1_pick_trash_can.yaml +501 -0
- dataset_info/Galbot_G1_pull_curtain.yaml +489 -0
- dataset_info/Galbot_G1_scrub_toilet.yaml +495 -0
- dataset_info/Galbot_G1_store_takeout_box.yaml +515 -0
- dataset_info/Galbot_G1_store_takeout_box_1.yaml +515 -0
- dataset_info/Galbot_G1_wipe_mirror.yaml +495 -0
- info/consolidated_datasets.json +2 -2
- info/data_index.json +37 -1
- info/download_stats.json +0 -0
- thumbnails/Galbot_G1_bag_table_trash_1.jpg +3 -0
- thumbnails/Galbot_G1_bag_table_trash_2.jpg +3 -0
- thumbnails/Galbot_G1_clear_sink_1.jpg +3 -0
- thumbnails/Galbot_G1_clear_sink_trash_1.jpg +3 -0
- thumbnails/Galbot_G1_clear_table_trash_1.jpg +3 -0
- thumbnails/Galbot_G1_clear_table_trash_2.jpg +3 -0
- thumbnails/Galbot_G1_clear_table_trash_3.jpg +3 -0
- thumbnails/Galbot_G1_discard_towel_1.jpg +3 -0
- thumbnails/Galbot_G1_fold_clothes_3.jpg +3 -0
- thumbnails/Galbot_G1_fold_clothes_4.jpg +3 -0
- thumbnails/Galbot_G1_hang_clothes.jpg +3 -0
dataset_info/Galbot_G1_bag_table_trash_1.yaml
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| 1 |
+
task_categories:
|
| 2 |
+
- robotics
|
| 3 |
+
language:
|
| 4 |
+
- en
|
| 5 |
+
tags:
|
| 6 |
+
- RoboCOIN
|
| 7 |
+
- LeRobot
|
| 8 |
+
license: apache-2.0
|
| 9 |
+
configs:
|
| 10 |
+
- config_name: default
|
| 11 |
+
data_files: data/chunk-{id}/episode_{id}.parquet
|
| 12 |
+
extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
|
| 13 |
+
in your research/publications—see the "Citation" section for details. You agree
|
| 14 |
+
to not use the dataset to conduct experiments that cause harm to human subjects.
|
| 15 |
+
extra_gated_fields:
|
| 16 |
+
Company/Organization:
|
| 17 |
+
type: text
|
| 18 |
+
description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
|
| 19 |
+
Country:
|
| 20 |
+
type: country
|
| 21 |
+
description: e.g., "Germany", "China", "United States"
|
| 22 |
+
codebase_version: v2.1
|
| 23 |
+
dataset_name: Galbot_G1_bag_table_trash_1
|
| 24 |
+
dataset_uuid: 9e7b2e79-0433-4428-8561-feec8a341308
|
| 25 |
+
scene_type:
|
| 26 |
+
level1: Household
|
| 27 |
+
level2: Living Room
|
| 28 |
+
level3: null
|
| 29 |
+
level4: null
|
| 30 |
+
level5: null
|
| 31 |
+
env_type: real_world
|
| 32 |
+
objects:
|
| 33 |
+
- id: takeout_bag
|
| 34 |
+
name: takeout bag
|
| 35 |
+
color: none
|
| 36 |
+
anchor_policy: static
|
| 37 |
+
- id: '1'
|
| 38 |
+
name: disposable takeout box
|
| 39 |
+
color: transparent
|
| 40 |
+
anchor_policy: static
|
| 41 |
+
- id: wrinkled_tissue_paper
|
| 42 |
+
name: wrinkled tissue paper
|
| 43 |
+
color: white
|
| 44 |
+
anchor_policy: static
|
| 45 |
+
- id: apple
|
| 46 |
+
name: apple
|
| 47 |
+
color: other
|
| 48 |
+
anchor_policy: static
|
| 49 |
+
- id: '2'
|
| 50 |
+
name: disposable takeout box
|
| 51 |
+
color: white
|
| 52 |
+
anchor_policy: static
|
| 53 |
+
- id: table
|
| 54 |
+
name: table
|
| 55 |
+
color: brown
|
| 56 |
+
anchor_policy: static
|
| 57 |
+
task_operation_type: fixed_dual_arm
|
| 58 |
+
task_instruction: Pick up the trash from the table and place it into the takeout bag.
|
| 59 |
+
sub_tasks:
|
| 60 |
+
- Pick up the trash from the table and place it into the takeout bag.
|
| 61 |
+
atomic_actions:
|
| 62 |
+
- grasp
|
| 63 |
+
- place
|
| 64 |
+
robot_name: Galbot_G1
|
| 65 |
+
end_effector_type: two_finger_end_effector
|
| 66 |
+
tele_type: master_arm
|
| 67 |
+
sensor_list:
|
| 68 |
+
- cam_right_head_rgb
|
| 69 |
+
- cam_left_head_rgb
|
| 70 |
+
- cam_right_wrist_rgb
|
| 71 |
+
- cam_left_wrist_rgb
|
| 72 |
+
came_info:
|
| 73 |
+
cam_right_head_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264,
|
| 74 |
+
pix_fmt=yuv420p
|
| 75 |
+
cam_left_head_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264,
|
| 76 |
+
pix_fmt=yuv420p
|
| 77 |
+
cam_right_wrist_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264,
|
| 78 |
+
pix_fmt=yuv420p
|
| 79 |
+
cam_left_wrist_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264,
|
| 80 |
+
pix_fmt=yuv420p
|
| 81 |
+
depth_enabled: false
|
| 82 |
+
coordinate_definition: right-hand-frame
|
| 83 |
+
joint_rotation_dim: radian
|
| 84 |
+
end_rotation_dim: radian
|
| 85 |
+
end_translation_dim: meter
|
| 86 |
+
base_translation_dim: meter
|
| 87 |
+
annotations:
|
| 88 |
+
- eef_acc_mag_annotation.jsonl
|
| 89 |
+
- eef_direction_annotation.jsonl
|
| 90 |
+
- eef_velocity_annotation.jsonl
|
| 91 |
+
- gripper_activity_annotation.jsonl
|
| 92 |
+
- gripper_mode_annotation.jsonl
|
| 93 |
+
statistics:
|
| 94 |
+
total_episodes: 437
|
| 95 |
+
total_frames: 742698
|
| 96 |
+
fps: 30
|
| 97 |
+
total_tasks: 1
|
| 98 |
+
total_videos: 1748
|
| 99 |
+
total_chunks: 1
|
| 100 |
+
chunks_size: 10000
|
| 101 |
+
state_dim: 38
|
| 102 |
+
action_dim: 38
|
| 103 |
+
camera_views: 4
|
| 104 |
+
dataset_size: 23.21 GB
|
| 105 |
+
frame_num: 742698
|
| 106 |
+
frame_range: 1M
|
| 107 |
+
dataset_size: 23.21 GB
|
| 108 |
+
data_structure: 'Galbot_G1_bag_table_trash_1_qced_hardlink/
|
| 109 |
+
|
| 110 |
+
|-- annotations
|
| 111 |
+
|
| 112 |
+
| |-- eef_acc_mag_annotation.jsonl
|
| 113 |
+
|
| 114 |
+
| |-- eef_direction_annotation.jsonl
|
| 115 |
+
|
| 116 |
+
| |-- eef_velocity_annotation.jsonl
|
| 117 |
+
|
| 118 |
+
| |-- gripper_activity_annotation.jsonl
|
| 119 |
+
|
| 120 |
+
| `-- gripper_mode_annotation.jsonl
|
| 121 |
+
|
| 122 |
+
|-- data
|
| 123 |
+
|
| 124 |
+
| `-- chunk-000
|
| 125 |
+
|
| 126 |
+
| |-- episode_000000.parquet
|
| 127 |
+
|
| 128 |
+
| |-- episode_000001.parquet
|
| 129 |
+
|
| 130 |
+
| |-- episode_000002.parquet
|
| 131 |
+
|
| 132 |
+
| |-- episode_000003.parquet
|
| 133 |
+
|
| 134 |
+
| |-- episode_000004.parquet
|
| 135 |
+
|
| 136 |
+
| |-- episode_000005.parquet
|
| 137 |
+
|
| 138 |
+
| |-- episode_000006.parquet
|
| 139 |
+
|
| 140 |
+
| |-- episode_000007.parquet
|
| 141 |
+
|
| 142 |
+
| |-- episode_000008.parquet
|
| 143 |
+
|
| 144 |
+
| |-- episode_000009.parquet
|
| 145 |
+
|
| 146 |
+
| |-- episode_000010.parquet
|
| 147 |
+
|
| 148 |
+
| `-- episode_000011.parquet
|
| 149 |
+
|
| 150 |
+
| `-- ... (425 more entries)
|
| 151 |
+
|
| 152 |
+
|-- meta
|
| 153 |
+
|
| 154 |
+
| |-- episodes.jsonl
|
| 155 |
+
|
| 156 |
+
| |-- episodes_stats.jsonl
|
| 157 |
+
|
| 158 |
+
| |-- info.json
|
| 159 |
+
|
| 160 |
+
| `-- tasks.jsonl
|
| 161 |
+
|
| 162 |
+
|-- videos
|
| 163 |
+
|
| 164 |
+
| `-- chunk-000
|
| 165 |
+
|
| 166 |
+
| |-- observation.images.cam_left_head_rgb
|
| 167 |
+
|
| 168 |
+
| |-- observation.images.cam_left_wrist_rgb
|
| 169 |
+
|
| 170 |
+
| |-- observation.images.cam_right_head_rgb
|
| 171 |
+
|
| 172 |
+
| `-- observation.images.cam_right_wrist_rgb
|
| 173 |
+
|
| 174 |
+
|-- info.yaml
|
| 175 |
+
|
| 176 |
+
`-- README.md'
|
| 177 |
+
splits:
|
| 178 |
+
train: 0:436
|
| 179 |
+
features:
|
| 180 |
+
action:
|
| 181 |
+
dtype: float32
|
| 182 |
+
names:
|
| 183 |
+
- right_arm_joint_1_rad
|
| 184 |
+
- right_arm_joint_2_rad
|
| 185 |
+
- right_arm_joint_3_rad
|
| 186 |
+
- right_arm_joint_4_rad
|
| 187 |
+
- right_arm_joint_5_rad
|
| 188 |
+
- right_arm_joint_6_rad
|
| 189 |
+
- right_arm_joint_7_rad
|
| 190 |
+
- right_gripper_open
|
| 191 |
+
- left_arm_joint_1_rad
|
| 192 |
+
- left_arm_joint_2_rad
|
| 193 |
+
- left_arm_joint_3_rad
|
| 194 |
+
- left_arm_joint_4_rad
|
| 195 |
+
- left_arm_joint_5_rad
|
| 196 |
+
- left_arm_joint_6_rad
|
| 197 |
+
- left_arm_joint_7_rad
|
| 198 |
+
- left_gripper_open
|
| 199 |
+
- torso_joint_1_rad
|
| 200 |
+
- torso_joint_2_rad
|
| 201 |
+
- torso_joint_3_rad
|
| 202 |
+
- torso_joint_4_rad
|
| 203 |
+
- torso_joint_5_rad
|
| 204 |
+
- head_joint_1_rad
|
| 205 |
+
- head_joint_2_rad
|
| 206 |
+
- chassis_pos_1
|
| 207 |
+
- chassis_pos_2
|
| 208 |
+
- chassis_pos_3
|
| 209 |
+
- chassis_pos_4
|
| 210 |
+
- chassis_vel_1
|
| 211 |
+
- chassis_vel_2
|
| 212 |
+
- chassis_vel_3
|
| 213 |
+
- chassis_vel_4
|
| 214 |
+
- base_pos_x_m
|
| 215 |
+
- base_pos_y_m
|
| 216 |
+
- base_orient_quat_z
|
| 217 |
+
- base_orient_quat_w
|
| 218 |
+
- base_vel_x_m_s
|
| 219 |
+
- base_vel_y_m_s
|
| 220 |
+
- base_vel_angular_z_rad_s
|
| 221 |
+
shape:
|
| 222 |
+
- 38
|
| 223 |
+
observation.state:
|
| 224 |
+
dtype: float32
|
| 225 |
+
names:
|
| 226 |
+
- right_arm_joint_1_rad
|
| 227 |
+
- right_arm_joint_2_rad
|
| 228 |
+
- right_arm_joint_3_rad
|
| 229 |
+
- right_arm_joint_4_rad
|
| 230 |
+
- right_arm_joint_5_rad
|
| 231 |
+
- right_arm_joint_6_rad
|
| 232 |
+
- right_arm_joint_7_rad
|
| 233 |
+
- right_gripper_open
|
| 234 |
+
- left_arm_joint_1_rad
|
| 235 |
+
- left_arm_joint_2_rad
|
| 236 |
+
- left_arm_joint_3_rad
|
| 237 |
+
- left_arm_joint_4_rad
|
| 238 |
+
- left_arm_joint_5_rad
|
| 239 |
+
- left_arm_joint_6_rad
|
| 240 |
+
- left_arm_joint_7_rad
|
| 241 |
+
- left_gripper_open
|
| 242 |
+
- torso_joint_1_rad
|
| 243 |
+
- torso_joint_2_rad
|
| 244 |
+
- torso_joint_3_rad
|
| 245 |
+
- torso_joint_4_rad
|
| 246 |
+
- torso_joint_5_rad
|
| 247 |
+
- head_joint_1_rad
|
| 248 |
+
- head_joint_2_rad
|
| 249 |
+
- chassis_pos_1
|
| 250 |
+
- chassis_pos_2
|
| 251 |
+
- chassis_pos_3
|
| 252 |
+
- chassis_pos_4
|
| 253 |
+
- chassis_vel_1
|
| 254 |
+
- chassis_vel_2
|
| 255 |
+
- chassis_vel_3
|
| 256 |
+
- chassis_vel_4
|
| 257 |
+
- base_pos_x_m
|
| 258 |
+
- base_pos_y_m
|
| 259 |
+
- base_orient_quat_z
|
| 260 |
+
- base_orient_quat_w
|
| 261 |
+
- base_vel_x_m_s
|
| 262 |
+
- base_vel_y_m_s
|
| 263 |
+
- base_vel_angular_z_rad_s
|
| 264 |
+
shape:
|
| 265 |
+
- 38
|
| 266 |
+
observation.images.cam_right_head_rgb:
|
| 267 |
+
dtype: video
|
| 268 |
+
shape:
|
| 269 |
+
- 720
|
| 270 |
+
- 960
|
| 271 |
+
- 3
|
| 272 |
+
names:
|
| 273 |
+
- height
|
| 274 |
+
- width
|
| 275 |
+
- channels
|
| 276 |
+
info:
|
| 277 |
+
video.fps: 30
|
| 278 |
+
video.height: 720
|
| 279 |
+
video.width: 960
|
| 280 |
+
video.channels: 3
|
| 281 |
+
video.codec: libx264
|
| 282 |
+
video.pix_fmt: yuv420p
|
| 283 |
+
video.is_depth_map: false
|
| 284 |
+
has_audio: false
|
| 285 |
+
observation.images.cam_left_head_rgb:
|
| 286 |
+
dtype: video
|
| 287 |
+
shape:
|
| 288 |
+
- 720
|
| 289 |
+
- 960
|
| 290 |
+
- 3
|
| 291 |
+
names:
|
| 292 |
+
- height
|
| 293 |
+
- width
|
| 294 |
+
- channels
|
| 295 |
+
info:
|
| 296 |
+
video.fps: 30
|
| 297 |
+
video.height: 720
|
| 298 |
+
video.width: 960
|
| 299 |
+
video.channels: 3
|
| 300 |
+
video.codec: libx264
|
| 301 |
+
video.pix_fmt: yuv420p
|
| 302 |
+
video.is_depth_map: false
|
| 303 |
+
has_audio: false
|
| 304 |
+
observation.images.cam_right_wrist_rgb:
|
| 305 |
+
dtype: video
|
| 306 |
+
shape:
|
| 307 |
+
- 720
|
| 308 |
+
- 960
|
| 309 |
+
- 3
|
| 310 |
+
names:
|
| 311 |
+
- height
|
| 312 |
+
- width
|
| 313 |
+
- channels
|
| 314 |
+
info:
|
| 315 |
+
video.fps: 30
|
| 316 |
+
video.height: 720
|
| 317 |
+
video.width: 960
|
| 318 |
+
video.channels: 3
|
| 319 |
+
video.codec: libx264
|
| 320 |
+
video.pix_fmt: yuv420p
|
| 321 |
+
video.is_depth_map: false
|
| 322 |
+
has_audio: false
|
| 323 |
+
observation.images.cam_left_wrist_rgb:
|
| 324 |
+
dtype: video
|
| 325 |
+
shape:
|
| 326 |
+
- 720
|
| 327 |
+
- 960
|
| 328 |
+
- 3
|
| 329 |
+
names:
|
| 330 |
+
- height
|
| 331 |
+
- width
|
| 332 |
+
- channels
|
| 333 |
+
info:
|
| 334 |
+
video.fps: 30
|
| 335 |
+
video.height: 720
|
| 336 |
+
video.width: 960
|
| 337 |
+
video.channels: 3
|
| 338 |
+
video.codec: libx264
|
| 339 |
+
video.pix_fmt: yuv420p
|
| 340 |
+
video.is_depth_map: false
|
| 341 |
+
has_audio: false
|
| 342 |
+
timestamp:
|
| 343 |
+
dtype: float32
|
| 344 |
+
shape:
|
| 345 |
+
- 1
|
| 346 |
+
names: null
|
| 347 |
+
frame_index:
|
| 348 |
+
dtype: int64
|
| 349 |
+
shape:
|
| 350 |
+
- 1
|
| 351 |
+
names: null
|
| 352 |
+
episode_index:
|
| 353 |
+
dtype: int64
|
| 354 |
+
shape:
|
| 355 |
+
- 1
|
| 356 |
+
names: null
|
| 357 |
+
index:
|
| 358 |
+
dtype: int64
|
| 359 |
+
shape:
|
| 360 |
+
- 1
|
| 361 |
+
names: null
|
| 362 |
+
task_index:
|
| 363 |
+
dtype: int64
|
| 364 |
+
shape:
|
| 365 |
+
- 1
|
| 366 |
+
names: null
|
| 367 |
+
gripper_open_scale_state:
|
| 368 |
+
names:
|
| 369 |
+
- left_gripper_open_scale
|
| 370 |
+
- right_gripper_open_scale
|
| 371 |
+
dtype: float64
|
| 372 |
+
shape:
|
| 373 |
+
- 2
|
| 374 |
+
gripper_open_scale_action:
|
| 375 |
+
names:
|
| 376 |
+
- left_gripper_open_scale
|
| 377 |
+
- right_gripper_open_scale
|
| 378 |
+
dtype: float64
|
| 379 |
+
shape:
|
| 380 |
+
- 2
|
| 381 |
+
eef_sim_pose_state:
|
| 382 |
+
names:
|
| 383 |
+
- left_eef_pos_x
|
| 384 |
+
- left_eef_pos_y
|
| 385 |
+
- left_eef_pos_z
|
| 386 |
+
- left_eef_rot_x
|
| 387 |
+
- left_eef_rot_y
|
| 388 |
+
- left_eef_rot_z
|
| 389 |
+
- right_eef_pos_x
|
| 390 |
+
- right_eef_pos_y
|
| 391 |
+
- right_eef_pos_z
|
| 392 |
+
- right_eef_rot_x
|
| 393 |
+
- right_eef_rot_y
|
| 394 |
+
- right_eef_rot_z
|
| 395 |
+
dtype: float32
|
| 396 |
+
shape:
|
| 397 |
+
- 12
|
| 398 |
+
eef_sim_pose_action:
|
| 399 |
+
names:
|
| 400 |
+
- left_eef_pos_x
|
| 401 |
+
- left_eef_pos_y
|
| 402 |
+
- left_eef_pos_z
|
| 403 |
+
- left_eef_rot_x
|
| 404 |
+
- left_eef_rot_y
|
| 405 |
+
- left_eef_rot_z
|
| 406 |
+
- right_eef_pos_x
|
| 407 |
+
- right_eef_pos_y
|
| 408 |
+
- right_eef_pos_z
|
| 409 |
+
- right_eef_rot_x
|
| 410 |
+
- right_eef_rot_y
|
| 411 |
+
- right_eef_rot_z
|
| 412 |
+
dtype: float32
|
| 413 |
+
shape:
|
| 414 |
+
- 12
|
| 415 |
+
eef_direction_state:
|
| 416 |
+
names:
|
| 417 |
+
- left_eef_direction
|
| 418 |
+
- right_eef_direction
|
| 419 |
+
dtype: int32
|
| 420 |
+
shape:
|
| 421 |
+
- 2
|
| 422 |
+
eef_direction_action:
|
| 423 |
+
names:
|
| 424 |
+
- left_eef_direction
|
| 425 |
+
- right_eef_direction
|
| 426 |
+
dtype: int32
|
| 427 |
+
shape:
|
| 428 |
+
- 2
|
| 429 |
+
eef_velocity_state:
|
| 430 |
+
names:
|
| 431 |
+
- left_eef_velocity
|
| 432 |
+
- right_eef_velocity
|
| 433 |
+
dtype: int32
|
| 434 |
+
shape:
|
| 435 |
+
- 2
|
| 436 |
+
eef_velocity_action:
|
| 437 |
+
names:
|
| 438 |
+
- left_eef_velocity
|
| 439 |
+
- right_eef_velocity
|
| 440 |
+
dtype: int32
|
| 441 |
+
shape:
|
| 442 |
+
- 2
|
| 443 |
+
eef_acc_mag_state:
|
| 444 |
+
names:
|
| 445 |
+
- left_eef_acc_mag
|
| 446 |
+
- right_eef_acc_mag
|
| 447 |
+
dtype: int32
|
| 448 |
+
shape:
|
| 449 |
+
- 2
|
| 450 |
+
eef_acc_mag_action:
|
| 451 |
+
names:
|
| 452 |
+
- left_eef_acc_mag
|
| 453 |
+
- right_eef_acc_mag
|
| 454 |
+
dtype: int32
|
| 455 |
+
shape:
|
| 456 |
+
- 2
|
| 457 |
+
gripper_mode_state:
|
| 458 |
+
names:
|
| 459 |
+
- left_gripper_mode
|
| 460 |
+
- right_gripper_mode
|
| 461 |
+
dtype: int32
|
| 462 |
+
shape:
|
| 463 |
+
- 2
|
| 464 |
+
gripper_mode_action:
|
| 465 |
+
names:
|
| 466 |
+
- left_gripper_mode
|
| 467 |
+
- right_gripper_mode
|
| 468 |
+
dtype: int32
|
| 469 |
+
shape:
|
| 470 |
+
- 2
|
| 471 |
+
gripper_activity_state:
|
| 472 |
+
names:
|
| 473 |
+
- left_gripper_activity
|
| 474 |
+
- right_gripper_activity
|
| 475 |
+
dtype: int32
|
| 476 |
+
shape:
|
| 477 |
+
- 2
|
| 478 |
+
gripper_activity_action:
|
| 479 |
+
names:
|
| 480 |
+
- left_gripper_activity
|
| 481 |
+
- right_gripper_activity
|
| 482 |
+
dtype: int32
|
| 483 |
+
shape:
|
| 484 |
+
- 2
|
| 485 |
+
authors:
|
| 486 |
+
contributed_by:
|
| 487 |
+
- name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
|
| 488 |
+
dataset_description: This dataset uses an extended format based on LeRobot and is
|
| 489 |
+
fully compatible with LeRobot.
|
| 490 |
+
homepage: https://flagopen.github.io/RoboCOIN/
|
| 491 |
+
paper: https://arxiv.org/abs/2511.17441
|
| 492 |
+
repository: https://github.com/FlagOpen/RoboCOIN
|
| 493 |
+
contact_info: For questions, issues, or feedback regarding this dataset, please contact
|
| 494 |
+
us.
|
| 495 |
+
support_info: For technical support, please open an issue on our GitHub repository.
|
| 496 |
+
license_details: apache-2.0
|
| 497 |
+
citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\
|
| 498 |
+
\ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\
|
| 499 |
+
\ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
|
| 500 |
+
\ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
|
| 501 |
+
\ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
|
| 502 |
+
\ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
|
| 503 |
+
\ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
|
| 504 |
+
\ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
|
| 505 |
+
\ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
|
| 506 |
+
\ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
|
| 507 |
+
\ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
|
| 508 |
+
\ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
|
| 509 |
+
\ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
|
| 510 |
+
\ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
|
| 511 |
+
\ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\
|
| 512 |
+
\ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n"
|
| 513 |
+
additional_citations: 'If you use this dataset, please also consider citing:
|
| 514 |
+
|
| 515 |
+
LeRobot Framework: https://github.com/huggingface/lerobot
|
| 516 |
+
|
| 517 |
+
'
|
| 518 |
+
version_info: Initial Release
|
| 519 |
+
data_path: data/chunk-{id}/episode_{id}.parquet
|
| 520 |
+
video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
|
| 521 |
+
video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4
|
dataset_info/Galbot_G1_bag_table_trash_2.yaml
ADDED
|
@@ -0,0 +1,461 @@
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|
|
|
| 1 |
+
task_categories:
|
| 2 |
+
- robotics
|
| 3 |
+
language:
|
| 4 |
+
- en
|
| 5 |
+
tags:
|
| 6 |
+
- RoboCOIN
|
| 7 |
+
- LeRobot
|
| 8 |
+
license: apache-2.0
|
| 9 |
+
configs:
|
| 10 |
+
- config_name: default
|
| 11 |
+
data_files: data/chunk-{id}/episode_{id}.parquet
|
| 12 |
+
extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
|
| 13 |
+
in your research/publications—see the "Citation" section for details. You agree
|
| 14 |
+
to not use the dataset to conduct experiments that cause harm to human subjects.
|
| 15 |
+
extra_gated_fields:
|
| 16 |
+
Company/Organization:
|
| 17 |
+
type: text
|
| 18 |
+
description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
|
| 19 |
+
Country:
|
| 20 |
+
type: country
|
| 21 |
+
description: e.g., "Germany", "China", "United States"
|
| 22 |
+
codebase_version: v2.1
|
| 23 |
+
dataset_name: Galbot_G1_bag_table_trash_2
|
| 24 |
+
dataset_uuid: 35afbb0a-851c-426b-b816-bb0b57b28588
|
| 25 |
+
scene_type:
|
| 26 |
+
level1: Household
|
| 27 |
+
level2: Living Room
|
| 28 |
+
level3: null
|
| 29 |
+
level4: null
|
| 30 |
+
level5: null
|
| 31 |
+
env_type: real_world
|
| 32 |
+
objects:
|
| 33 |
+
- id: table
|
| 34 |
+
name: table
|
| 35 |
+
color: brown
|
| 36 |
+
anchor_policy: static
|
| 37 |
+
- id: bottled_beverages
|
| 38 |
+
name: bottled beverages
|
| 39 |
+
color: red
|
| 40 |
+
anchor_policy: static
|
| 41 |
+
- id: '1'
|
| 42 |
+
name: disposable takeout box
|
| 43 |
+
color: brown
|
| 44 |
+
anchor_policy: static
|
| 45 |
+
- id: '2'
|
| 46 |
+
name: disposable takeout box
|
| 47 |
+
color: white
|
| 48 |
+
anchor_policy: static
|
| 49 |
+
- id: takeout_bag
|
| 50 |
+
name: takeout bag
|
| 51 |
+
color: none
|
| 52 |
+
anchor_policy: static
|
| 53 |
+
task_operation_type: fixed_dual_arm
|
| 54 |
+
task_instruction: Pick up the trash from the table and place it into the takeout bag.
|
| 55 |
+
sub_tasks:
|
| 56 |
+
- Pick up the trash from the table and place it into the takeout bag.
|
| 57 |
+
atomic_actions:
|
| 58 |
+
- grasp
|
| 59 |
+
- place
|
| 60 |
+
robot_name: Galbot_G1
|
| 61 |
+
end_effector_type: two_finger_end_effector
|
| 62 |
+
tele_type: master_arm
|
| 63 |
+
sensor_list:
|
| 64 |
+
- cam_right_head_rgb
|
| 65 |
+
- cam_left_head_rgb
|
| 66 |
+
- cam_right_wrist_rgb
|
| 67 |
+
- cam_left_wrist_rgb
|
| 68 |
+
came_info:
|
| 69 |
+
cam_right_head_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264,
|
| 70 |
+
pix_fmt=yuv420p
|
| 71 |
+
cam_left_head_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264,
|
| 72 |
+
pix_fmt=yuv420p
|
| 73 |
+
cam_right_wrist_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264,
|
| 74 |
+
pix_fmt=yuv420p
|
| 75 |
+
cam_left_wrist_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264,
|
| 76 |
+
pix_fmt=yuv420p
|
| 77 |
+
depth_enabled: false
|
| 78 |
+
coordinate_definition: right-hand-frame
|
| 79 |
+
joint_rotation_dim: radian
|
| 80 |
+
end_rotation_dim: radian
|
| 81 |
+
end_translation_dim: meter
|
| 82 |
+
base_translation_dim: meter
|
| 83 |
+
annotations:
|
| 84 |
+
- eef_acc_mag_annotation.jsonl
|
| 85 |
+
- eef_direction_annotation.jsonl
|
| 86 |
+
- eef_velocity_annotation.jsonl
|
| 87 |
+
- gripper_activity_annotation.jsonl
|
| 88 |
+
- gripper_mode_annotation.jsonl
|
| 89 |
+
statistics:
|
| 90 |
+
total_episodes: 239
|
| 91 |
+
total_frames: 492664
|
| 92 |
+
fps: 30
|
| 93 |
+
total_tasks: 1
|
| 94 |
+
total_videos: 956
|
| 95 |
+
total_chunks: 1
|
| 96 |
+
chunks_size: 10000
|
| 97 |
+
state_dim: 38
|
| 98 |
+
action_dim: 38
|
| 99 |
+
camera_views: 4
|
| 100 |
+
dataset_size: 15.86 GB
|
| 101 |
+
frame_num: 492664
|
| 102 |
+
frame_range: 1M
|
| 103 |
+
dataset_size: 15.86 GB
|
| 104 |
+
data_structure: "Galbot_G1_bag_table_trash_2_qced_hardlink/\n|-- annotations\n| \
|
| 105 |
+
\ |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| \
|
| 106 |
+
\ |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\
|
| 107 |
+
| `-- gripper_mode_annotation.jsonl\n|-- data\n| `-- chunk-000\n| |--\
|
| 108 |
+
\ episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n\
|
| 109 |
+
| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| \
|
| 110 |
+
\ |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\
|
| 111 |
+
| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \
|
| 112 |
+
\ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ...\
|
| 113 |
+
\ (227 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\
|
| 114 |
+
| |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |--\
|
| 115 |
+
\ observation.images.cam_left_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\
|
| 116 |
+
\ |-- observation.images.cam_right_head_rgb\n `-- observation.images.cam_right_wrist_rgb"
|
| 117 |
+
splits:
|
| 118 |
+
train: 0:238
|
| 119 |
+
features:
|
| 120 |
+
action:
|
| 121 |
+
dtype: float32
|
| 122 |
+
names:
|
| 123 |
+
- right_arm_joint_1_rad
|
| 124 |
+
- right_arm_joint_2_rad
|
| 125 |
+
- right_arm_joint_3_rad
|
| 126 |
+
- right_arm_joint_4_rad
|
| 127 |
+
- right_arm_joint_5_rad
|
| 128 |
+
- right_arm_joint_6_rad
|
| 129 |
+
- right_arm_joint_7_rad
|
| 130 |
+
- right_gripper_open
|
| 131 |
+
- left_arm_joint_1_rad
|
| 132 |
+
- left_arm_joint_2_rad
|
| 133 |
+
- left_arm_joint_3_rad
|
| 134 |
+
- left_arm_joint_4_rad
|
| 135 |
+
- left_arm_joint_5_rad
|
| 136 |
+
- left_arm_joint_6_rad
|
| 137 |
+
- left_arm_joint_7_rad
|
| 138 |
+
- left_gripper_open
|
| 139 |
+
- torso_joint_1_rad
|
| 140 |
+
- torso_joint_2_rad
|
| 141 |
+
- torso_joint_3_rad
|
| 142 |
+
- torso_joint_4_rad
|
| 143 |
+
- torso_joint_5_rad
|
| 144 |
+
- head_joint_1_rad
|
| 145 |
+
- head_joint_2_rad
|
| 146 |
+
- chassis_pos_1
|
| 147 |
+
- chassis_pos_2
|
| 148 |
+
- chassis_pos_3
|
| 149 |
+
- chassis_pos_4
|
| 150 |
+
- chassis_vel_1
|
| 151 |
+
- chassis_vel_2
|
| 152 |
+
- chassis_vel_3
|
| 153 |
+
- chassis_vel_4
|
| 154 |
+
- base_pos_x_m
|
| 155 |
+
- base_pos_y_m
|
| 156 |
+
- base_orient_quat_z
|
| 157 |
+
- base_orient_quat_w
|
| 158 |
+
- base_vel_x_m_s
|
| 159 |
+
- base_vel_y_m_s
|
| 160 |
+
- base_vel_angular_z_rad_s
|
| 161 |
+
shape:
|
| 162 |
+
- 38
|
| 163 |
+
observation.state:
|
| 164 |
+
dtype: float32
|
| 165 |
+
names:
|
| 166 |
+
- right_arm_joint_1_rad
|
| 167 |
+
- right_arm_joint_2_rad
|
| 168 |
+
- right_arm_joint_3_rad
|
| 169 |
+
- right_arm_joint_4_rad
|
| 170 |
+
- right_arm_joint_5_rad
|
| 171 |
+
- right_arm_joint_6_rad
|
| 172 |
+
- right_arm_joint_7_rad
|
| 173 |
+
- right_gripper_open
|
| 174 |
+
- left_arm_joint_1_rad
|
| 175 |
+
- left_arm_joint_2_rad
|
| 176 |
+
- left_arm_joint_3_rad
|
| 177 |
+
- left_arm_joint_4_rad
|
| 178 |
+
- left_arm_joint_5_rad
|
| 179 |
+
- left_arm_joint_6_rad
|
| 180 |
+
- left_arm_joint_7_rad
|
| 181 |
+
- left_gripper_open
|
| 182 |
+
- torso_joint_1_rad
|
| 183 |
+
- torso_joint_2_rad
|
| 184 |
+
- torso_joint_3_rad
|
| 185 |
+
- torso_joint_4_rad
|
| 186 |
+
- torso_joint_5_rad
|
| 187 |
+
- head_joint_1_rad
|
| 188 |
+
- head_joint_2_rad
|
| 189 |
+
- chassis_pos_1
|
| 190 |
+
- chassis_pos_2
|
| 191 |
+
- chassis_pos_3
|
| 192 |
+
- chassis_pos_4
|
| 193 |
+
- chassis_vel_1
|
| 194 |
+
- chassis_vel_2
|
| 195 |
+
- chassis_vel_3
|
| 196 |
+
- chassis_vel_4
|
| 197 |
+
- base_pos_x_m
|
| 198 |
+
- base_pos_y_m
|
| 199 |
+
- base_orient_quat_z
|
| 200 |
+
- base_orient_quat_w
|
| 201 |
+
- base_vel_x_m_s
|
| 202 |
+
- base_vel_y_m_s
|
| 203 |
+
- base_vel_angular_z_rad_s
|
| 204 |
+
shape:
|
| 205 |
+
- 38
|
| 206 |
+
observation.images.cam_right_head_rgb:
|
| 207 |
+
dtype: video
|
| 208 |
+
shape:
|
| 209 |
+
- 720
|
| 210 |
+
- 960
|
| 211 |
+
- 3
|
| 212 |
+
names:
|
| 213 |
+
- height
|
| 214 |
+
- width
|
| 215 |
+
- channels
|
| 216 |
+
info:
|
| 217 |
+
video.fps: 30
|
| 218 |
+
video.height: 720
|
| 219 |
+
video.width: 960
|
| 220 |
+
video.channels: 3
|
| 221 |
+
video.codec: libx264
|
| 222 |
+
video.pix_fmt: yuv420p
|
| 223 |
+
video.is_depth_map: false
|
| 224 |
+
has_audio: false
|
| 225 |
+
observation.images.cam_left_head_rgb:
|
| 226 |
+
dtype: video
|
| 227 |
+
shape:
|
| 228 |
+
- 720
|
| 229 |
+
- 960
|
| 230 |
+
- 3
|
| 231 |
+
names:
|
| 232 |
+
- height
|
| 233 |
+
- width
|
| 234 |
+
- channels
|
| 235 |
+
info:
|
| 236 |
+
video.fps: 30
|
| 237 |
+
video.height: 720
|
| 238 |
+
video.width: 960
|
| 239 |
+
video.channels: 3
|
| 240 |
+
video.codec: libx264
|
| 241 |
+
video.pix_fmt: yuv420p
|
| 242 |
+
video.is_depth_map: false
|
| 243 |
+
has_audio: false
|
| 244 |
+
observation.images.cam_right_wrist_rgb:
|
| 245 |
+
dtype: video
|
| 246 |
+
shape:
|
| 247 |
+
- 720
|
| 248 |
+
- 960
|
| 249 |
+
- 3
|
| 250 |
+
names:
|
| 251 |
+
- height
|
| 252 |
+
- width
|
| 253 |
+
- channels
|
| 254 |
+
info:
|
| 255 |
+
video.fps: 30
|
| 256 |
+
video.height: 720
|
| 257 |
+
video.width: 960
|
| 258 |
+
video.channels: 3
|
| 259 |
+
video.codec: libx264
|
| 260 |
+
video.pix_fmt: yuv420p
|
| 261 |
+
video.is_depth_map: false
|
| 262 |
+
has_audio: false
|
| 263 |
+
observation.images.cam_left_wrist_rgb:
|
| 264 |
+
dtype: video
|
| 265 |
+
shape:
|
| 266 |
+
- 720
|
| 267 |
+
- 960
|
| 268 |
+
- 3
|
| 269 |
+
names:
|
| 270 |
+
- height
|
| 271 |
+
- width
|
| 272 |
+
- channels
|
| 273 |
+
info:
|
| 274 |
+
video.fps: 30
|
| 275 |
+
video.height: 720
|
| 276 |
+
video.width: 960
|
| 277 |
+
video.channels: 3
|
| 278 |
+
video.codec: libx264
|
| 279 |
+
video.pix_fmt: yuv420p
|
| 280 |
+
video.is_depth_map: false
|
| 281 |
+
has_audio: false
|
| 282 |
+
timestamp:
|
| 283 |
+
dtype: float32
|
| 284 |
+
shape:
|
| 285 |
+
- 1
|
| 286 |
+
names: null
|
| 287 |
+
frame_index:
|
| 288 |
+
dtype: int64
|
| 289 |
+
shape:
|
| 290 |
+
- 1
|
| 291 |
+
names: null
|
| 292 |
+
episode_index:
|
| 293 |
+
dtype: int64
|
| 294 |
+
shape:
|
| 295 |
+
- 1
|
| 296 |
+
names: null
|
| 297 |
+
index:
|
| 298 |
+
dtype: int64
|
| 299 |
+
shape:
|
| 300 |
+
- 1
|
| 301 |
+
names: null
|
| 302 |
+
task_index:
|
| 303 |
+
dtype: int64
|
| 304 |
+
shape:
|
| 305 |
+
- 1
|
| 306 |
+
names: null
|
| 307 |
+
gripper_open_scale_state:
|
| 308 |
+
names:
|
| 309 |
+
- left_gripper_open_scale
|
| 310 |
+
- right_gripper_open_scale
|
| 311 |
+
dtype: float64
|
| 312 |
+
shape:
|
| 313 |
+
- 2
|
| 314 |
+
gripper_open_scale_action:
|
| 315 |
+
names:
|
| 316 |
+
- left_gripper_open_scale
|
| 317 |
+
- right_gripper_open_scale
|
| 318 |
+
dtype: float64
|
| 319 |
+
shape:
|
| 320 |
+
- 2
|
| 321 |
+
eef_sim_pose_state:
|
| 322 |
+
names:
|
| 323 |
+
- left_eef_pos_x
|
| 324 |
+
- left_eef_pos_y
|
| 325 |
+
- left_eef_pos_z
|
| 326 |
+
- left_eef_rot_x
|
| 327 |
+
- left_eef_rot_y
|
| 328 |
+
- left_eef_rot_z
|
| 329 |
+
- right_eef_pos_x
|
| 330 |
+
- right_eef_pos_y
|
| 331 |
+
- right_eef_pos_z
|
| 332 |
+
- right_eef_rot_x
|
| 333 |
+
- right_eef_rot_y
|
| 334 |
+
- right_eef_rot_z
|
| 335 |
+
dtype: float32
|
| 336 |
+
shape:
|
| 337 |
+
- 12
|
| 338 |
+
eef_sim_pose_action:
|
| 339 |
+
names:
|
| 340 |
+
- left_eef_pos_x
|
| 341 |
+
- left_eef_pos_y
|
| 342 |
+
- left_eef_pos_z
|
| 343 |
+
- left_eef_rot_x
|
| 344 |
+
- left_eef_rot_y
|
| 345 |
+
- left_eef_rot_z
|
| 346 |
+
- right_eef_pos_x
|
| 347 |
+
- right_eef_pos_y
|
| 348 |
+
- right_eef_pos_z
|
| 349 |
+
- right_eef_rot_x
|
| 350 |
+
- right_eef_rot_y
|
| 351 |
+
- right_eef_rot_z
|
| 352 |
+
dtype: float32
|
| 353 |
+
shape:
|
| 354 |
+
- 12
|
| 355 |
+
eef_direction_state:
|
| 356 |
+
names:
|
| 357 |
+
- left_eef_direction
|
| 358 |
+
- right_eef_direction
|
| 359 |
+
dtype: int32
|
| 360 |
+
shape:
|
| 361 |
+
- 2
|
| 362 |
+
eef_direction_action:
|
| 363 |
+
names:
|
| 364 |
+
- left_eef_direction
|
| 365 |
+
- right_eef_direction
|
| 366 |
+
dtype: int32
|
| 367 |
+
shape:
|
| 368 |
+
- 2
|
| 369 |
+
eef_velocity_state:
|
| 370 |
+
names:
|
| 371 |
+
- left_eef_velocity
|
| 372 |
+
- right_eef_velocity
|
| 373 |
+
dtype: int32
|
| 374 |
+
shape:
|
| 375 |
+
- 2
|
| 376 |
+
eef_velocity_action:
|
| 377 |
+
names:
|
| 378 |
+
- left_eef_velocity
|
| 379 |
+
- right_eef_velocity
|
| 380 |
+
dtype: int32
|
| 381 |
+
shape:
|
| 382 |
+
- 2
|
| 383 |
+
eef_acc_mag_state:
|
| 384 |
+
names:
|
| 385 |
+
- left_eef_acc_mag
|
| 386 |
+
- right_eef_acc_mag
|
| 387 |
+
dtype: int32
|
| 388 |
+
shape:
|
| 389 |
+
- 2
|
| 390 |
+
eef_acc_mag_action:
|
| 391 |
+
names:
|
| 392 |
+
- left_eef_acc_mag
|
| 393 |
+
- right_eef_acc_mag
|
| 394 |
+
dtype: int32
|
| 395 |
+
shape:
|
| 396 |
+
- 2
|
| 397 |
+
gripper_mode_state:
|
| 398 |
+
names:
|
| 399 |
+
- left_gripper_mode
|
| 400 |
+
- right_gripper_mode
|
| 401 |
+
dtype: int32
|
| 402 |
+
shape:
|
| 403 |
+
- 2
|
| 404 |
+
gripper_mode_action:
|
| 405 |
+
names:
|
| 406 |
+
- left_gripper_mode
|
| 407 |
+
- right_gripper_mode
|
| 408 |
+
dtype: int32
|
| 409 |
+
shape:
|
| 410 |
+
- 2
|
| 411 |
+
gripper_activity_state:
|
| 412 |
+
names:
|
| 413 |
+
- left_gripper_activity
|
| 414 |
+
- right_gripper_activity
|
| 415 |
+
dtype: int32
|
| 416 |
+
shape:
|
| 417 |
+
- 2
|
| 418 |
+
gripper_activity_action:
|
| 419 |
+
names:
|
| 420 |
+
- left_gripper_activity
|
| 421 |
+
- right_gripper_activity
|
| 422 |
+
dtype: int32
|
| 423 |
+
shape:
|
| 424 |
+
- 2
|
| 425 |
+
authors:
|
| 426 |
+
contributed_by:
|
| 427 |
+
- name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
|
| 428 |
+
dataset_description: This dataset uses an extended format based on LeRobot and is
|
| 429 |
+
fully compatible with LeRobot.
|
| 430 |
+
homepage: https://flagopen.github.io/RoboCOIN/
|
| 431 |
+
paper: https://arxiv.org/abs/2511.17441
|
| 432 |
+
repository: https://github.com/FlagOpen/RoboCOIN
|
| 433 |
+
contact_info: For questions, issues, or feedback regarding this dataset, please contact
|
| 434 |
+
us.
|
| 435 |
+
support_info: For technical support, please open an issue on our GitHub repository.
|
| 436 |
+
license_details: apache-2.0
|
| 437 |
+
citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\
|
| 438 |
+
\ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\
|
| 439 |
+
\ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
|
| 440 |
+
\ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
|
| 441 |
+
\ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
|
| 442 |
+
\ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
|
| 443 |
+
\ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
|
| 444 |
+
\ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
|
| 445 |
+
\ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
|
| 446 |
+
\ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
|
| 447 |
+
\ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
|
| 448 |
+
\ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
|
| 449 |
+
\ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
|
| 450 |
+
\ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
|
| 451 |
+
\ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\
|
| 452 |
+
\ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n"
|
| 453 |
+
additional_citations: 'If you use this dataset, please also consider citing:
|
| 454 |
+
|
| 455 |
+
LeRobot Framework: https://github.com/huggingface/lerobot
|
| 456 |
+
|
| 457 |
+
'
|
| 458 |
+
version_info: Initial Release
|
| 459 |
+
data_path: data/chunk-{id}/episode_{id}.parquet
|
| 460 |
+
video_path: videos/chunk-{id}/observation.images.cam_right_head_rgb/episode_{id}.mp{id}
|
| 461 |
+
video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4
|
dataset_info/Galbot_G1_clear_sink_1.yaml
ADDED
|
@@ -0,0 +1,502 @@
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
|
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|
|
|
|
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|
|
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|
|
|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
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|
|
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|
|
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|
|
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|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
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|
|
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|
|
|
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|
|
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|
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|
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|
|
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|
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|
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|
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|
|
|
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|
|
|
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|
|
|
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|
|
|
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|
|
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|
|
|
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|
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|
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|
|
|
|
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|
|
|
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|
|
|
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|
|
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|
|
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|
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|
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|
|
| 1 |
+
task_categories:
|
| 2 |
+
- robotics
|
| 3 |
+
language:
|
| 4 |
+
- en
|
| 5 |
+
tags:
|
| 6 |
+
- RoboCOIN
|
| 7 |
+
- LeRobot
|
| 8 |
+
license: apache-2.0
|
| 9 |
+
configs:
|
| 10 |
+
- config_name: default
|
| 11 |
+
data_files: data/chunk-{id}/episode_{id}.parquet
|
| 12 |
+
extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
|
| 13 |
+
in your research/publications—see the "Citation" section for details. You agree
|
| 14 |
+
to not use the dataset to conduct experiments that cause harm to human subjects.
|
| 15 |
+
extra_gated_fields:
|
| 16 |
+
Company/Organization:
|
| 17 |
+
type: text
|
| 18 |
+
description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
|
| 19 |
+
Country:
|
| 20 |
+
type: country
|
| 21 |
+
description: e.g., "Germany", "China", "United States"
|
| 22 |
+
codebase_version: v2.1
|
| 23 |
+
dataset_name: Galbot_G1_clear_sink_1
|
| 24 |
+
dataset_uuid: 466aac6c-578c-4232-8e34-b865dfdb121a
|
| 25 |
+
scene_type:
|
| 26 |
+
level1: Household
|
| 27 |
+
level2: Bathroom
|
| 28 |
+
level3: null
|
| 29 |
+
level4: null
|
| 30 |
+
level5: null
|
| 31 |
+
env_type: real_world
|
| 32 |
+
objects:
|
| 33 |
+
- id: towel
|
| 34 |
+
name: towel
|
| 35 |
+
color: black
|
| 36 |
+
anchor_policy: static
|
| 37 |
+
- id: facial_cleanser
|
| 38 |
+
name: facial cleanser
|
| 39 |
+
color: purple
|
| 40 |
+
anchor_policy: static
|
| 41 |
+
- id: shampoo
|
| 42 |
+
name: shampoo
|
| 43 |
+
color: white
|
| 44 |
+
anchor_policy: static
|
| 45 |
+
- id: washbasin
|
| 46 |
+
name: washbasin
|
| 47 |
+
color: white
|
| 48 |
+
anchor_policy: static
|
| 49 |
+
task_operation_type: mobile_dual_arm
|
| 50 |
+
task_instruction: Move facial cleanser and shampoo from washbasin to cabinet, then
|
| 51 |
+
wipe washbasin with towel.
|
| 52 |
+
sub_tasks:
|
| 53 |
+
- Move facial cleanser and shampoo from washbasin to cabinet, then wipe washbasin
|
| 54 |
+
with towel.
|
| 55 |
+
atomic_actions:
|
| 56 |
+
- move
|
| 57 |
+
- grasp
|
| 58 |
+
- place
|
| 59 |
+
- wipe
|
| 60 |
+
robot_name: Galbot_G1
|
| 61 |
+
end_effector_type: two_finger_end_effector
|
| 62 |
+
tele_type: master_arm
|
| 63 |
+
sensor_list:
|
| 64 |
+
- cam_right_head_rgb
|
| 65 |
+
- cam_left_head_rgb
|
| 66 |
+
- cam_right_wrist_rgb
|
| 67 |
+
- cam_left_wrist_rgb
|
| 68 |
+
came_info:
|
| 69 |
+
cam_right_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 70 |
+
pix_fmt=yuv420p
|
| 71 |
+
cam_left_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 72 |
+
pix_fmt=yuv420p
|
| 73 |
+
cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 74 |
+
pix_fmt=yuv420p
|
| 75 |
+
cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 76 |
+
pix_fmt=yuv420p
|
| 77 |
+
depth_enabled: false
|
| 78 |
+
coordinate_definition: right-hand-frame
|
| 79 |
+
joint_rotation_dim: radian
|
| 80 |
+
end_rotation_dim: radian
|
| 81 |
+
end_translation_dim: meter
|
| 82 |
+
annotations:
|
| 83 |
+
- eef_acc_mag_annotation.jsonl
|
| 84 |
+
- eef_direction_annotation.jsonl
|
| 85 |
+
- eef_velocity_annotation.jsonl
|
| 86 |
+
- gripper_activity_annotation.jsonl
|
| 87 |
+
- gripper_mode_annotation.jsonl
|
| 88 |
+
statistics:
|
| 89 |
+
total_episodes: 200
|
| 90 |
+
total_frames: 221090
|
| 91 |
+
fps: 30
|
| 92 |
+
total_tasks: 1
|
| 93 |
+
total_videos: 800
|
| 94 |
+
total_chunks: 1
|
| 95 |
+
chunks_size: 10000
|
| 96 |
+
state_dim: 31
|
| 97 |
+
action_dim: 31
|
| 98 |
+
camera_views: 4
|
| 99 |
+
dataset_size: 6.80 GB
|
| 100 |
+
frame_num: 221090
|
| 101 |
+
frame_range: 1M
|
| 102 |
+
dataset_size: 6.80 GB
|
| 103 |
+
data_structure: 'Galbot_G1_clear_sink_1_qced_hardlink/
|
| 104 |
+
|
| 105 |
+
|-- annotations
|
| 106 |
+
|
| 107 |
+
| |-- eef_acc_mag_annotation.jsonl
|
| 108 |
+
|
| 109 |
+
| |-- eef_direction_annotation.jsonl
|
| 110 |
+
|
| 111 |
+
| |-- eef_velocity_annotation.jsonl
|
| 112 |
+
|
| 113 |
+
| |-- gripper_activity_annotation.jsonl
|
| 114 |
+
|
| 115 |
+
| `-- gripper_mode_annotation.jsonl
|
| 116 |
+
|
| 117 |
+
|-- data
|
| 118 |
+
|
| 119 |
+
| `-- chunk-000
|
| 120 |
+
|
| 121 |
+
| |-- episode_000000.parquet
|
| 122 |
+
|
| 123 |
+
| |-- episode_000001.parquet
|
| 124 |
+
|
| 125 |
+
| |-- episode_000002.parquet
|
| 126 |
+
|
| 127 |
+
| |-- episode_000003.parquet
|
| 128 |
+
|
| 129 |
+
| |-- episode_000004.parquet
|
| 130 |
+
|
| 131 |
+
| |-- episode_000005.parquet
|
| 132 |
+
|
| 133 |
+
| |-- episode_000006.parquet
|
| 134 |
+
|
| 135 |
+
| |-- episode_000007.parquet
|
| 136 |
+
|
| 137 |
+
| |-- episode_000008.parquet
|
| 138 |
+
|
| 139 |
+
| |-- episode_000009.parquet
|
| 140 |
+
|
| 141 |
+
| |-- episode_000010.parquet
|
| 142 |
+
|
| 143 |
+
| `-- episode_000011.parquet
|
| 144 |
+
|
| 145 |
+
| `-- ... (188 more entries)
|
| 146 |
+
|
| 147 |
+
|-- meta
|
| 148 |
+
|
| 149 |
+
| |-- episodes.jsonl
|
| 150 |
+
|
| 151 |
+
| |-- episodes_stats.jsonl
|
| 152 |
+
|
| 153 |
+
| |-- info.json
|
| 154 |
+
|
| 155 |
+
| `-- tasks.jsonl
|
| 156 |
+
|
| 157 |
+
|-- videos
|
| 158 |
+
|
| 159 |
+
| `-- chunk-000
|
| 160 |
+
|
| 161 |
+
| |-- observation.images.cam_left_head_rgb
|
| 162 |
+
|
| 163 |
+
| |-- observation.images.cam_left_wrist_rgb
|
| 164 |
+
|
| 165 |
+
| |-- observation.images.cam_right_head_rgb
|
| 166 |
+
|
| 167 |
+
| `-- observation.images.cam_right_wrist_rgb
|
| 168 |
+
|
| 169 |
+
|-- info.yaml
|
| 170 |
+
|
| 171 |
+
`-- README.md'
|
| 172 |
+
splits:
|
| 173 |
+
train: 0:199
|
| 174 |
+
features:
|
| 175 |
+
action:
|
| 176 |
+
dtype: float32
|
| 177 |
+
names:
|
| 178 |
+
- right_arm_joint_1_rad
|
| 179 |
+
- right_arm_joint_2_rad
|
| 180 |
+
- right_arm_joint_3_rad
|
| 181 |
+
- right_arm_joint_4_rad
|
| 182 |
+
- right_arm_joint_5_rad
|
| 183 |
+
- right_arm_joint_6_rad
|
| 184 |
+
- right_arm_joint_7_rad
|
| 185 |
+
- right_gripper_open
|
| 186 |
+
- left_arm_joint_1_rad
|
| 187 |
+
- left_arm_joint_2_rad
|
| 188 |
+
- left_arm_joint_3_rad
|
| 189 |
+
- left_arm_joint_4_rad
|
| 190 |
+
- left_arm_joint_5_rad
|
| 191 |
+
- left_arm_joint_6_rad
|
| 192 |
+
- left_arm_joint_7_rad
|
| 193 |
+
- left_gripper_open
|
| 194 |
+
- torso_joint_1_rad
|
| 195 |
+
- torso_joint_2_rad
|
| 196 |
+
- torso_joint_3_rad
|
| 197 |
+
- torso_joint_4_rad
|
| 198 |
+
- torso_joint_5_rad
|
| 199 |
+
- head_joint_1_rad
|
| 200 |
+
- head_joint_2_rad
|
| 201 |
+
- chassis_pos_1
|
| 202 |
+
- chassis_pos_2
|
| 203 |
+
- chassis_pos_3
|
| 204 |
+
- chassis_pos_4
|
| 205 |
+
- chassis_vel_1
|
| 206 |
+
- chassis_vel_2
|
| 207 |
+
- chassis_vel_3
|
| 208 |
+
- chassis_vel_4
|
| 209 |
+
shape:
|
| 210 |
+
- 31
|
| 211 |
+
observation.state:
|
| 212 |
+
dtype: float32
|
| 213 |
+
names:
|
| 214 |
+
- right_arm_joint_1_rad
|
| 215 |
+
- right_arm_joint_2_rad
|
| 216 |
+
- right_arm_joint_3_rad
|
| 217 |
+
- right_arm_joint_4_rad
|
| 218 |
+
- right_arm_joint_5_rad
|
| 219 |
+
- right_arm_joint_6_rad
|
| 220 |
+
- right_arm_joint_7_rad
|
| 221 |
+
- right_gripper_open
|
| 222 |
+
- left_arm_joint_1_rad
|
| 223 |
+
- left_arm_joint_2_rad
|
| 224 |
+
- left_arm_joint_3_rad
|
| 225 |
+
- left_arm_joint_4_rad
|
| 226 |
+
- left_arm_joint_5_rad
|
| 227 |
+
- left_arm_joint_6_rad
|
| 228 |
+
- left_arm_joint_7_rad
|
| 229 |
+
- left_gripper_open
|
| 230 |
+
- torso_joint_1_rad
|
| 231 |
+
- torso_joint_2_rad
|
| 232 |
+
- torso_joint_3_rad
|
| 233 |
+
- torso_joint_4_rad
|
| 234 |
+
- torso_joint_5_rad
|
| 235 |
+
- head_joint_1_rad
|
| 236 |
+
- head_joint_2_rad
|
| 237 |
+
- chassis_pos_1
|
| 238 |
+
- chassis_pos_2
|
| 239 |
+
- chassis_pos_3
|
| 240 |
+
- chassis_pos_4
|
| 241 |
+
- chassis_vel_1
|
| 242 |
+
- chassis_vel_2
|
| 243 |
+
- chassis_vel_3
|
| 244 |
+
- chassis_vel_4
|
| 245 |
+
shape:
|
| 246 |
+
- 31
|
| 247 |
+
observation.images.cam_right_head_rgb:
|
| 248 |
+
dtype: video
|
| 249 |
+
shape:
|
| 250 |
+
- 480
|
| 251 |
+
- 640
|
| 252 |
+
- 3
|
| 253 |
+
names:
|
| 254 |
+
- height
|
| 255 |
+
- width
|
| 256 |
+
- channels
|
| 257 |
+
info:
|
| 258 |
+
video.fps: 30
|
| 259 |
+
video.height: 480
|
| 260 |
+
video.width: 640
|
| 261 |
+
video.channels: 3
|
| 262 |
+
video.codec: libx264
|
| 263 |
+
video.pix_fmt: yuv420p
|
| 264 |
+
video.is_depth_map: false
|
| 265 |
+
has_audio: false
|
| 266 |
+
observation.images.cam_left_head_rgb:
|
| 267 |
+
dtype: video
|
| 268 |
+
shape:
|
| 269 |
+
- 480
|
| 270 |
+
- 640
|
| 271 |
+
- 3
|
| 272 |
+
names:
|
| 273 |
+
- height
|
| 274 |
+
- width
|
| 275 |
+
- channels
|
| 276 |
+
info:
|
| 277 |
+
video.fps: 30
|
| 278 |
+
video.height: 480
|
| 279 |
+
video.width: 640
|
| 280 |
+
video.channels: 3
|
| 281 |
+
video.codec: libx264
|
| 282 |
+
video.pix_fmt: yuv420p
|
| 283 |
+
video.is_depth_map: false
|
| 284 |
+
has_audio: false
|
| 285 |
+
observation.images.cam_right_wrist_rgb:
|
| 286 |
+
dtype: video
|
| 287 |
+
shape:
|
| 288 |
+
- 480
|
| 289 |
+
- 640
|
| 290 |
+
- 3
|
| 291 |
+
names:
|
| 292 |
+
- height
|
| 293 |
+
- width
|
| 294 |
+
- channels
|
| 295 |
+
info:
|
| 296 |
+
video.fps: 30
|
| 297 |
+
video.height: 480
|
| 298 |
+
video.width: 640
|
| 299 |
+
video.channels: 3
|
| 300 |
+
video.codec: libx264
|
| 301 |
+
video.pix_fmt: yuv420p
|
| 302 |
+
video.is_depth_map: false
|
| 303 |
+
has_audio: false
|
| 304 |
+
observation.images.cam_left_wrist_rgb:
|
| 305 |
+
dtype: video
|
| 306 |
+
shape:
|
| 307 |
+
- 480
|
| 308 |
+
- 640
|
| 309 |
+
- 3
|
| 310 |
+
names:
|
| 311 |
+
- height
|
| 312 |
+
- width
|
| 313 |
+
- channels
|
| 314 |
+
info:
|
| 315 |
+
video.fps: 30
|
| 316 |
+
video.height: 480
|
| 317 |
+
video.width: 640
|
| 318 |
+
video.channels: 3
|
| 319 |
+
video.codec: libx264
|
| 320 |
+
video.pix_fmt: yuv420p
|
| 321 |
+
video.is_depth_map: false
|
| 322 |
+
has_audio: false
|
| 323 |
+
timestamp:
|
| 324 |
+
dtype: float32
|
| 325 |
+
shape:
|
| 326 |
+
- 1
|
| 327 |
+
names: null
|
| 328 |
+
frame_index:
|
| 329 |
+
dtype: int64
|
| 330 |
+
shape:
|
| 331 |
+
- 1
|
| 332 |
+
names: null
|
| 333 |
+
episode_index:
|
| 334 |
+
dtype: int64
|
| 335 |
+
shape:
|
| 336 |
+
- 1
|
| 337 |
+
names: null
|
| 338 |
+
index:
|
| 339 |
+
dtype: int64
|
| 340 |
+
shape:
|
| 341 |
+
- 1
|
| 342 |
+
names: null
|
| 343 |
+
task_index:
|
| 344 |
+
dtype: int64
|
| 345 |
+
shape:
|
| 346 |
+
- 1
|
| 347 |
+
names: null
|
| 348 |
+
gripper_open_scale_state:
|
| 349 |
+
names:
|
| 350 |
+
- left_gripper_open_scale
|
| 351 |
+
- right_gripper_open_scale
|
| 352 |
+
dtype: float64
|
| 353 |
+
shape:
|
| 354 |
+
- 2
|
| 355 |
+
gripper_open_scale_action:
|
| 356 |
+
names:
|
| 357 |
+
- left_gripper_open_scale
|
| 358 |
+
- right_gripper_open_scale
|
| 359 |
+
dtype: float64
|
| 360 |
+
shape:
|
| 361 |
+
- 2
|
| 362 |
+
eef_sim_pose_state:
|
| 363 |
+
names:
|
| 364 |
+
- left_eef_pos_x
|
| 365 |
+
- left_eef_pos_y
|
| 366 |
+
- left_eef_pos_z
|
| 367 |
+
- left_eef_rot_x
|
| 368 |
+
- left_eef_rot_y
|
| 369 |
+
- left_eef_rot_z
|
| 370 |
+
- right_eef_pos_x
|
| 371 |
+
- right_eef_pos_y
|
| 372 |
+
- right_eef_pos_z
|
| 373 |
+
- right_eef_rot_x
|
| 374 |
+
- right_eef_rot_y
|
| 375 |
+
- right_eef_rot_z
|
| 376 |
+
dtype: float32
|
| 377 |
+
shape:
|
| 378 |
+
- 12
|
| 379 |
+
eef_sim_pose_action:
|
| 380 |
+
names:
|
| 381 |
+
- left_eef_pos_x
|
| 382 |
+
- left_eef_pos_y
|
| 383 |
+
- left_eef_pos_z
|
| 384 |
+
- left_eef_rot_x
|
| 385 |
+
- left_eef_rot_y
|
| 386 |
+
- left_eef_rot_z
|
| 387 |
+
- right_eef_pos_x
|
| 388 |
+
- right_eef_pos_y
|
| 389 |
+
- right_eef_pos_z
|
| 390 |
+
- right_eef_rot_x
|
| 391 |
+
- right_eef_rot_y
|
| 392 |
+
- right_eef_rot_z
|
| 393 |
+
dtype: float32
|
| 394 |
+
shape:
|
| 395 |
+
- 12
|
| 396 |
+
eef_direction_state:
|
| 397 |
+
names:
|
| 398 |
+
- left_eef_direction
|
| 399 |
+
- right_eef_direction
|
| 400 |
+
dtype: int32
|
| 401 |
+
shape:
|
| 402 |
+
- 2
|
| 403 |
+
eef_direction_action:
|
| 404 |
+
names:
|
| 405 |
+
- left_eef_direction
|
| 406 |
+
- right_eef_direction
|
| 407 |
+
dtype: int32
|
| 408 |
+
shape:
|
| 409 |
+
- 2
|
| 410 |
+
eef_velocity_state:
|
| 411 |
+
names:
|
| 412 |
+
- left_eef_velocity
|
| 413 |
+
- right_eef_velocity
|
| 414 |
+
dtype: int32
|
| 415 |
+
shape:
|
| 416 |
+
- 2
|
| 417 |
+
eef_velocity_action:
|
| 418 |
+
names:
|
| 419 |
+
- left_eef_velocity
|
| 420 |
+
- right_eef_velocity
|
| 421 |
+
dtype: int32
|
| 422 |
+
shape:
|
| 423 |
+
- 2
|
| 424 |
+
eef_acc_mag_state:
|
| 425 |
+
names:
|
| 426 |
+
- left_eef_acc_mag
|
| 427 |
+
- right_eef_acc_mag
|
| 428 |
+
dtype: int32
|
| 429 |
+
shape:
|
| 430 |
+
- 2
|
| 431 |
+
eef_acc_mag_action:
|
| 432 |
+
names:
|
| 433 |
+
- left_eef_acc_mag
|
| 434 |
+
- right_eef_acc_mag
|
| 435 |
+
dtype: int32
|
| 436 |
+
shape:
|
| 437 |
+
- 2
|
| 438 |
+
gripper_mode_state:
|
| 439 |
+
names:
|
| 440 |
+
- left_gripper_mode
|
| 441 |
+
- right_gripper_mode
|
| 442 |
+
dtype: int32
|
| 443 |
+
shape:
|
| 444 |
+
- 2
|
| 445 |
+
gripper_mode_action:
|
| 446 |
+
names:
|
| 447 |
+
- left_gripper_mode
|
| 448 |
+
- right_gripper_mode
|
| 449 |
+
dtype: int32
|
| 450 |
+
shape:
|
| 451 |
+
- 2
|
| 452 |
+
gripper_activity_state:
|
| 453 |
+
names:
|
| 454 |
+
- left_gripper_activity
|
| 455 |
+
- right_gripper_activity
|
| 456 |
+
dtype: int32
|
| 457 |
+
shape:
|
| 458 |
+
- 2
|
| 459 |
+
gripper_activity_action:
|
| 460 |
+
names:
|
| 461 |
+
- left_gripper_activity
|
| 462 |
+
- right_gripper_activity
|
| 463 |
+
dtype: int32
|
| 464 |
+
shape:
|
| 465 |
+
- 2
|
| 466 |
+
authors:
|
| 467 |
+
contributed_by:
|
| 468 |
+
- name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
|
| 469 |
+
dataset_description: This dataset uses an extended format based on LeRobot and is
|
| 470 |
+
fully compatible with LeRobot.
|
| 471 |
+
homepage: https://flagopen.github.io/RoboCOIN/
|
| 472 |
+
paper: https://arxiv.org/abs/2511.17441
|
| 473 |
+
repository: https://github.com/FlagOpen/RoboCOIN
|
| 474 |
+
contact_info: For questions, issues, or feedback regarding this dataset, please contact
|
| 475 |
+
us.
|
| 476 |
+
support_info: For technical support, please open an issue on our GitHub repository.
|
| 477 |
+
license_details: apache-2.0
|
| 478 |
+
citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\
|
| 479 |
+
\ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\
|
| 480 |
+
\ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
|
| 481 |
+
\ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
|
| 482 |
+
\ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
|
| 483 |
+
\ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
|
| 484 |
+
\ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
|
| 485 |
+
\ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
|
| 486 |
+
\ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
|
| 487 |
+
\ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
|
| 488 |
+
\ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
|
| 489 |
+
\ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
|
| 490 |
+
\ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
|
| 491 |
+
\ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
|
| 492 |
+
\ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\
|
| 493 |
+
\ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n"
|
| 494 |
+
additional_citations: 'If you use this dataset, please also consider citing:
|
| 495 |
+
|
| 496 |
+
LeRobot Framework: https://github.com/huggingface/lerobot
|
| 497 |
+
|
| 498 |
+
'
|
| 499 |
+
version_info: Initial Release
|
| 500 |
+
data_path: data/chunk-{id}/episode_{id}.parquet
|
| 501 |
+
video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
|
| 502 |
+
video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4
|
dataset_info/Galbot_G1_clear_sink_trash_1.yaml
ADDED
|
@@ -0,0 +1,506 @@
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|
|
| 1 |
+
task_categories:
|
| 2 |
+
- robotics
|
| 3 |
+
language:
|
| 4 |
+
- en
|
| 5 |
+
tags:
|
| 6 |
+
- RoboCOIN
|
| 7 |
+
- LeRobot
|
| 8 |
+
license: apache-2.0
|
| 9 |
+
configs:
|
| 10 |
+
- config_name: default
|
| 11 |
+
data_files: data/chunk-{id}/episode_{id}.parquet
|
| 12 |
+
extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
|
| 13 |
+
in your research/publications—see the "Citation" section for details. You agree
|
| 14 |
+
to not use the dataset to conduct experiments that cause harm to human subjects.
|
| 15 |
+
extra_gated_fields:
|
| 16 |
+
Company/Organization:
|
| 17 |
+
type: text
|
| 18 |
+
description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
|
| 19 |
+
Country:
|
| 20 |
+
type: country
|
| 21 |
+
description: e.g., "Germany", "China", "United States"
|
| 22 |
+
codebase_version: v2.1
|
| 23 |
+
dataset_name: Galbot_G1_clear_sink_trash_1
|
| 24 |
+
dataset_uuid: 8ba25960-b9de-431d-aca8-436731f81955
|
| 25 |
+
scene_type:
|
| 26 |
+
level1: Household
|
| 27 |
+
level2: Bathroom
|
| 28 |
+
level3: null
|
| 29 |
+
level4: null
|
| 30 |
+
level5: null
|
| 31 |
+
env_type: real_world
|
| 32 |
+
objects:
|
| 33 |
+
- id: toothpaste
|
| 34 |
+
name: toothpaste
|
| 35 |
+
color: white
|
| 36 |
+
anchor_policy: static
|
| 37 |
+
- id: '1'
|
| 38 |
+
name: toothpaste
|
| 39 |
+
color: white
|
| 40 |
+
anchor_policy: static
|
| 41 |
+
- id: toothpaste_packaging
|
| 42 |
+
name: toothpaste packaging
|
| 43 |
+
color: white
|
| 44 |
+
anchor_policy: static
|
| 45 |
+
- id: tissue_paper
|
| 46 |
+
name: tissue paper
|
| 47 |
+
color: white
|
| 48 |
+
anchor_policy: static
|
| 49 |
+
- id: washbasin
|
| 50 |
+
name: washbasin
|
| 51 |
+
color: brown
|
| 52 |
+
anchor_policy: static
|
| 53 |
+
- id: trash_can
|
| 54 |
+
name: trash can
|
| 55 |
+
color: black
|
| 56 |
+
anchor_policy: static
|
| 57 |
+
task_operation_type: fixed_single_arm
|
| 58 |
+
task_instruction: Pick up the trash from the sink and place it in the trash bin.
|
| 59 |
+
sub_tasks:
|
| 60 |
+
- Pick up the trash from the sink and place it in the trash bin.
|
| 61 |
+
atomic_actions:
|
| 62 |
+
- grasp
|
| 63 |
+
- place
|
| 64 |
+
robot_name: Galbot_G1
|
| 65 |
+
end_effector_type: two_finger_end_effector
|
| 66 |
+
tele_type: master_arm
|
| 67 |
+
sensor_list:
|
| 68 |
+
- cam_right_head_rgb
|
| 69 |
+
- cam_left_head_rgb
|
| 70 |
+
- cam_right_wrist_rgb
|
| 71 |
+
- cam_left_wrist_rgb
|
| 72 |
+
came_info:
|
| 73 |
+
cam_right_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 74 |
+
pix_fmt=yuv420p
|
| 75 |
+
cam_left_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 76 |
+
pix_fmt=yuv420p
|
| 77 |
+
cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 78 |
+
pix_fmt=yuv420p
|
| 79 |
+
cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 80 |
+
pix_fmt=yuv420p
|
| 81 |
+
depth_enabled: false
|
| 82 |
+
coordinate_definition: right-hand-frame
|
| 83 |
+
joint_rotation_dim: radian
|
| 84 |
+
end_rotation_dim: radian
|
| 85 |
+
end_translation_dim: meter
|
| 86 |
+
annotations:
|
| 87 |
+
- eef_acc_mag_annotation.jsonl
|
| 88 |
+
- eef_direction_annotation.jsonl
|
| 89 |
+
- eef_velocity_annotation.jsonl
|
| 90 |
+
- gripper_activity_annotation.jsonl
|
| 91 |
+
- gripper_mode_annotation.jsonl
|
| 92 |
+
statistics:
|
| 93 |
+
total_episodes: 198
|
| 94 |
+
total_frames: 278064
|
| 95 |
+
fps: 30
|
| 96 |
+
total_tasks: 1
|
| 97 |
+
total_videos: 792
|
| 98 |
+
total_chunks: 1
|
| 99 |
+
chunks_size: 10000
|
| 100 |
+
state_dim: 31
|
| 101 |
+
action_dim: 31
|
| 102 |
+
camera_views: 4
|
| 103 |
+
dataset_size: 14.91 GB
|
| 104 |
+
frame_num: 278064
|
| 105 |
+
frame_range: 1M
|
| 106 |
+
dataset_size: 14.91 GB
|
| 107 |
+
data_structure: 'Galbot_G1_clear_sink_trash_1_qced_hardlink/
|
| 108 |
+
|
| 109 |
+
|-- annotations
|
| 110 |
+
|
| 111 |
+
| |-- eef_acc_mag_annotation.jsonl
|
| 112 |
+
|
| 113 |
+
| |-- eef_direction_annotation.jsonl
|
| 114 |
+
|
| 115 |
+
| |-- eef_velocity_annotation.jsonl
|
| 116 |
+
|
| 117 |
+
| |-- gripper_activity_annotation.jsonl
|
| 118 |
+
|
| 119 |
+
| `-- gripper_mode_annotation.jsonl
|
| 120 |
+
|
| 121 |
+
|-- data
|
| 122 |
+
|
| 123 |
+
| `-- chunk-000
|
| 124 |
+
|
| 125 |
+
| |-- episode_000000.parquet
|
| 126 |
+
|
| 127 |
+
| |-- episode_000001.parquet
|
| 128 |
+
|
| 129 |
+
| |-- episode_000002.parquet
|
| 130 |
+
|
| 131 |
+
| |-- episode_000003.parquet
|
| 132 |
+
|
| 133 |
+
| |-- episode_000004.parquet
|
| 134 |
+
|
| 135 |
+
| |-- episode_000005.parquet
|
| 136 |
+
|
| 137 |
+
| |-- episode_000006.parquet
|
| 138 |
+
|
| 139 |
+
| |-- episode_000007.parquet
|
| 140 |
+
|
| 141 |
+
| |-- episode_000008.parquet
|
| 142 |
+
|
| 143 |
+
| |-- episode_000009.parquet
|
| 144 |
+
|
| 145 |
+
| |-- episode_000010.parquet
|
| 146 |
+
|
| 147 |
+
| `-- episode_000011.parquet
|
| 148 |
+
|
| 149 |
+
| `-- ... (186 more entries)
|
| 150 |
+
|
| 151 |
+
|-- meta
|
| 152 |
+
|
| 153 |
+
| |-- episodes.jsonl
|
| 154 |
+
|
| 155 |
+
| |-- episodes_stats.jsonl
|
| 156 |
+
|
| 157 |
+
| |-- info.json
|
| 158 |
+
|
| 159 |
+
| `-- tasks.jsonl
|
| 160 |
+
|
| 161 |
+
|-- videos
|
| 162 |
+
|
| 163 |
+
| `-- chunk-000
|
| 164 |
+
|
| 165 |
+
| |-- observation.images.cam_left_head_rgb
|
| 166 |
+
|
| 167 |
+
| |-- observation.images.cam_left_wrist_rgb
|
| 168 |
+
|
| 169 |
+
| |-- observation.images.cam_right_head_rgb
|
| 170 |
+
|
| 171 |
+
| `-- observation.images.cam_right_wrist_rgb
|
| 172 |
+
|
| 173 |
+
|-- info.yaml
|
| 174 |
+
|
| 175 |
+
`-- README.md'
|
| 176 |
+
splits:
|
| 177 |
+
train: 0:197
|
| 178 |
+
features:
|
| 179 |
+
action:
|
| 180 |
+
dtype: float32
|
| 181 |
+
names:
|
| 182 |
+
- right_arm_joint_1_rad
|
| 183 |
+
- right_arm_joint_2_rad
|
| 184 |
+
- right_arm_joint_3_rad
|
| 185 |
+
- right_arm_joint_4_rad
|
| 186 |
+
- right_arm_joint_5_rad
|
| 187 |
+
- right_arm_joint_6_rad
|
| 188 |
+
- right_arm_joint_7_rad
|
| 189 |
+
- right_gripper_open
|
| 190 |
+
- left_arm_joint_1_rad
|
| 191 |
+
- left_arm_joint_2_rad
|
| 192 |
+
- left_arm_joint_3_rad
|
| 193 |
+
- left_arm_joint_4_rad
|
| 194 |
+
- left_arm_joint_5_rad
|
| 195 |
+
- left_arm_joint_6_rad
|
| 196 |
+
- left_arm_joint_7_rad
|
| 197 |
+
- left_gripper_open
|
| 198 |
+
- torso_joint_1_rad
|
| 199 |
+
- torso_joint_2_rad
|
| 200 |
+
- torso_joint_3_rad
|
| 201 |
+
- torso_joint_4_rad
|
| 202 |
+
- torso_joint_5_rad
|
| 203 |
+
- head_joint_1_rad
|
| 204 |
+
- head_joint_2_rad
|
| 205 |
+
- chassis_pos_1
|
| 206 |
+
- chassis_pos_2
|
| 207 |
+
- chassis_pos_3
|
| 208 |
+
- chassis_pos_4
|
| 209 |
+
- chassis_vel_1
|
| 210 |
+
- chassis_vel_2
|
| 211 |
+
- chassis_vel_3
|
| 212 |
+
- chassis_vel_4
|
| 213 |
+
shape:
|
| 214 |
+
- 31
|
| 215 |
+
observation.state:
|
| 216 |
+
dtype: float32
|
| 217 |
+
names:
|
| 218 |
+
- right_arm_joint_1_rad
|
| 219 |
+
- right_arm_joint_2_rad
|
| 220 |
+
- right_arm_joint_3_rad
|
| 221 |
+
- right_arm_joint_4_rad
|
| 222 |
+
- right_arm_joint_5_rad
|
| 223 |
+
- right_arm_joint_6_rad
|
| 224 |
+
- right_arm_joint_7_rad
|
| 225 |
+
- right_gripper_open
|
| 226 |
+
- left_arm_joint_1_rad
|
| 227 |
+
- left_arm_joint_2_rad
|
| 228 |
+
- left_arm_joint_3_rad
|
| 229 |
+
- left_arm_joint_4_rad
|
| 230 |
+
- left_arm_joint_5_rad
|
| 231 |
+
- left_arm_joint_6_rad
|
| 232 |
+
- left_arm_joint_7_rad
|
| 233 |
+
- left_gripper_open
|
| 234 |
+
- torso_joint_1_rad
|
| 235 |
+
- torso_joint_2_rad
|
| 236 |
+
- torso_joint_3_rad
|
| 237 |
+
- torso_joint_4_rad
|
| 238 |
+
- torso_joint_5_rad
|
| 239 |
+
- head_joint_1_rad
|
| 240 |
+
- head_joint_2_rad
|
| 241 |
+
- chassis_pos_1
|
| 242 |
+
- chassis_pos_2
|
| 243 |
+
- chassis_pos_3
|
| 244 |
+
- chassis_pos_4
|
| 245 |
+
- chassis_vel_1
|
| 246 |
+
- chassis_vel_2
|
| 247 |
+
- chassis_vel_3
|
| 248 |
+
- chassis_vel_4
|
| 249 |
+
shape:
|
| 250 |
+
- 31
|
| 251 |
+
observation.images.cam_right_head_rgb:
|
| 252 |
+
dtype: video
|
| 253 |
+
shape:
|
| 254 |
+
- 480
|
| 255 |
+
- 640
|
| 256 |
+
- 3
|
| 257 |
+
names:
|
| 258 |
+
- height
|
| 259 |
+
- width
|
| 260 |
+
- channels
|
| 261 |
+
info:
|
| 262 |
+
video.fps: 30
|
| 263 |
+
video.height: 480
|
| 264 |
+
video.width: 640
|
| 265 |
+
video.channels: 3
|
| 266 |
+
video.codec: libx264
|
| 267 |
+
video.pix_fmt: yuv420p
|
| 268 |
+
video.is_depth_map: false
|
| 269 |
+
has_audio: false
|
| 270 |
+
observation.images.cam_left_head_rgb:
|
| 271 |
+
dtype: video
|
| 272 |
+
shape:
|
| 273 |
+
- 480
|
| 274 |
+
- 640
|
| 275 |
+
- 3
|
| 276 |
+
names:
|
| 277 |
+
- height
|
| 278 |
+
- width
|
| 279 |
+
- channels
|
| 280 |
+
info:
|
| 281 |
+
video.fps: 30
|
| 282 |
+
video.height: 480
|
| 283 |
+
video.width: 640
|
| 284 |
+
video.channels: 3
|
| 285 |
+
video.codec: libx264
|
| 286 |
+
video.pix_fmt: yuv420p
|
| 287 |
+
video.is_depth_map: false
|
| 288 |
+
has_audio: false
|
| 289 |
+
observation.images.cam_right_wrist_rgb:
|
| 290 |
+
dtype: video
|
| 291 |
+
shape:
|
| 292 |
+
- 480
|
| 293 |
+
- 640
|
| 294 |
+
- 3
|
| 295 |
+
names:
|
| 296 |
+
- height
|
| 297 |
+
- width
|
| 298 |
+
- channels
|
| 299 |
+
info:
|
| 300 |
+
video.fps: 30
|
| 301 |
+
video.height: 480
|
| 302 |
+
video.width: 640
|
| 303 |
+
video.channels: 3
|
| 304 |
+
video.codec: libx264
|
| 305 |
+
video.pix_fmt: yuv420p
|
| 306 |
+
video.is_depth_map: false
|
| 307 |
+
has_audio: false
|
| 308 |
+
observation.images.cam_left_wrist_rgb:
|
| 309 |
+
dtype: video
|
| 310 |
+
shape:
|
| 311 |
+
- 480
|
| 312 |
+
- 640
|
| 313 |
+
- 3
|
| 314 |
+
names:
|
| 315 |
+
- height
|
| 316 |
+
- width
|
| 317 |
+
- channels
|
| 318 |
+
info:
|
| 319 |
+
video.fps: 30
|
| 320 |
+
video.height: 480
|
| 321 |
+
video.width: 640
|
| 322 |
+
video.channels: 3
|
| 323 |
+
video.codec: libx264
|
| 324 |
+
video.pix_fmt: yuv420p
|
| 325 |
+
video.is_depth_map: false
|
| 326 |
+
has_audio: false
|
| 327 |
+
timestamp:
|
| 328 |
+
dtype: float32
|
| 329 |
+
shape:
|
| 330 |
+
- 1
|
| 331 |
+
names: null
|
| 332 |
+
frame_index:
|
| 333 |
+
dtype: int64
|
| 334 |
+
shape:
|
| 335 |
+
- 1
|
| 336 |
+
names: null
|
| 337 |
+
episode_index:
|
| 338 |
+
dtype: int64
|
| 339 |
+
shape:
|
| 340 |
+
- 1
|
| 341 |
+
names: null
|
| 342 |
+
index:
|
| 343 |
+
dtype: int64
|
| 344 |
+
shape:
|
| 345 |
+
- 1
|
| 346 |
+
names: null
|
| 347 |
+
task_index:
|
| 348 |
+
dtype: int64
|
| 349 |
+
shape:
|
| 350 |
+
- 1
|
| 351 |
+
names: null
|
| 352 |
+
gripper_open_scale_state:
|
| 353 |
+
names:
|
| 354 |
+
- left_gripper_open_scale
|
| 355 |
+
- right_gripper_open_scale
|
| 356 |
+
dtype: float64
|
| 357 |
+
shape:
|
| 358 |
+
- 2
|
| 359 |
+
gripper_open_scale_action:
|
| 360 |
+
names:
|
| 361 |
+
- left_gripper_open_scale
|
| 362 |
+
- right_gripper_open_scale
|
| 363 |
+
dtype: float64
|
| 364 |
+
shape:
|
| 365 |
+
- 2
|
| 366 |
+
eef_sim_pose_state:
|
| 367 |
+
names:
|
| 368 |
+
- left_eef_pos_x
|
| 369 |
+
- left_eef_pos_y
|
| 370 |
+
- left_eef_pos_z
|
| 371 |
+
- left_eef_rot_x
|
| 372 |
+
- left_eef_rot_y
|
| 373 |
+
- left_eef_rot_z
|
| 374 |
+
- right_eef_pos_x
|
| 375 |
+
- right_eef_pos_y
|
| 376 |
+
- right_eef_pos_z
|
| 377 |
+
- right_eef_rot_x
|
| 378 |
+
- right_eef_rot_y
|
| 379 |
+
- right_eef_rot_z
|
| 380 |
+
dtype: float32
|
| 381 |
+
shape:
|
| 382 |
+
- 12
|
| 383 |
+
eef_sim_pose_action:
|
| 384 |
+
names:
|
| 385 |
+
- left_eef_pos_x
|
| 386 |
+
- left_eef_pos_y
|
| 387 |
+
- left_eef_pos_z
|
| 388 |
+
- left_eef_rot_x
|
| 389 |
+
- left_eef_rot_y
|
| 390 |
+
- left_eef_rot_z
|
| 391 |
+
- right_eef_pos_x
|
| 392 |
+
- right_eef_pos_y
|
| 393 |
+
- right_eef_pos_z
|
| 394 |
+
- right_eef_rot_x
|
| 395 |
+
- right_eef_rot_y
|
| 396 |
+
- right_eef_rot_z
|
| 397 |
+
dtype: float32
|
| 398 |
+
shape:
|
| 399 |
+
- 12
|
| 400 |
+
eef_direction_state:
|
| 401 |
+
names:
|
| 402 |
+
- left_eef_direction
|
| 403 |
+
- right_eef_direction
|
| 404 |
+
dtype: int32
|
| 405 |
+
shape:
|
| 406 |
+
- 2
|
| 407 |
+
eef_direction_action:
|
| 408 |
+
names:
|
| 409 |
+
- left_eef_direction
|
| 410 |
+
- right_eef_direction
|
| 411 |
+
dtype: int32
|
| 412 |
+
shape:
|
| 413 |
+
- 2
|
| 414 |
+
eef_velocity_state:
|
| 415 |
+
names:
|
| 416 |
+
- left_eef_velocity
|
| 417 |
+
- right_eef_velocity
|
| 418 |
+
dtype: int32
|
| 419 |
+
shape:
|
| 420 |
+
- 2
|
| 421 |
+
eef_velocity_action:
|
| 422 |
+
names:
|
| 423 |
+
- left_eef_velocity
|
| 424 |
+
- right_eef_velocity
|
| 425 |
+
dtype: int32
|
| 426 |
+
shape:
|
| 427 |
+
- 2
|
| 428 |
+
eef_acc_mag_state:
|
| 429 |
+
names:
|
| 430 |
+
- left_eef_acc_mag
|
| 431 |
+
- right_eef_acc_mag
|
| 432 |
+
dtype: int32
|
| 433 |
+
shape:
|
| 434 |
+
- 2
|
| 435 |
+
eef_acc_mag_action:
|
| 436 |
+
names:
|
| 437 |
+
- left_eef_acc_mag
|
| 438 |
+
- right_eef_acc_mag
|
| 439 |
+
dtype: int32
|
| 440 |
+
shape:
|
| 441 |
+
- 2
|
| 442 |
+
gripper_mode_state:
|
| 443 |
+
names:
|
| 444 |
+
- left_gripper_mode
|
| 445 |
+
- right_gripper_mode
|
| 446 |
+
dtype: int32
|
| 447 |
+
shape:
|
| 448 |
+
- 2
|
| 449 |
+
gripper_mode_action:
|
| 450 |
+
names:
|
| 451 |
+
- left_gripper_mode
|
| 452 |
+
- right_gripper_mode
|
| 453 |
+
dtype: int32
|
| 454 |
+
shape:
|
| 455 |
+
- 2
|
| 456 |
+
gripper_activity_state:
|
| 457 |
+
names:
|
| 458 |
+
- left_gripper_activity
|
| 459 |
+
- right_gripper_activity
|
| 460 |
+
dtype: int32
|
| 461 |
+
shape:
|
| 462 |
+
- 2
|
| 463 |
+
gripper_activity_action:
|
| 464 |
+
names:
|
| 465 |
+
- left_gripper_activity
|
| 466 |
+
- right_gripper_activity
|
| 467 |
+
dtype: int32
|
| 468 |
+
shape:
|
| 469 |
+
- 2
|
| 470 |
+
authors:
|
| 471 |
+
contributed_by:
|
| 472 |
+
- name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
|
| 473 |
+
dataset_description: This dataset uses an extended format based on LeRobot and is
|
| 474 |
+
fully compatible with LeRobot.
|
| 475 |
+
homepage: https://flagopen.github.io/RoboCOIN/
|
| 476 |
+
paper: https://arxiv.org/abs/2511.17441
|
| 477 |
+
repository: https://github.com/FlagOpen/RoboCOIN
|
| 478 |
+
contact_info: For questions, issues, or feedback regarding this dataset, please contact
|
| 479 |
+
us.
|
| 480 |
+
support_info: For technical support, please open an issue on our GitHub repository.
|
| 481 |
+
license_details: apache-2.0
|
| 482 |
+
citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\
|
| 483 |
+
\ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\
|
| 484 |
+
\ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
|
| 485 |
+
\ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
|
| 486 |
+
\ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
|
| 487 |
+
\ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
|
| 488 |
+
\ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
|
| 489 |
+
\ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
|
| 490 |
+
\ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
|
| 491 |
+
\ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
|
| 492 |
+
\ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
|
| 493 |
+
\ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
|
| 494 |
+
\ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
|
| 495 |
+
\ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
|
| 496 |
+
\ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\
|
| 497 |
+
\ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n"
|
| 498 |
+
additional_citations: 'If you use this dataset, please also consider citing:
|
| 499 |
+
|
| 500 |
+
LeRobot Framework: https://github.com/huggingface/lerobot
|
| 501 |
+
|
| 502 |
+
'
|
| 503 |
+
version_info: Initial Release
|
| 504 |
+
data_path: data/chunk-{id}/episode_{id}.parquet
|
| 505 |
+
video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
|
| 506 |
+
video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4
|
dataset_info/Galbot_G1_clear_table_trash_1.yaml
ADDED
|
@@ -0,0 +1,508 @@
|
|
|
|
|
|
|
|
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|
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|
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|
|
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|
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|
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|
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|
|
|
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|
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|
|
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|
|
|
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|
|
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|
|
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|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
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|
|
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|
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|
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|
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|
|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
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|
|
|
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|
|
|
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|
|
|
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|
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|
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|
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|
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|
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|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
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|
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|
|
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|
|
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|
|
|
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|
|
|
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|
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|
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|
|
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|
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|
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|
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|
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|
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|
|
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|
|
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|
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|
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|
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|
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|
|
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|
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|
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|
|
|
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|
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|
|
|
|
|
|
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|
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|
|
|
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|
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|
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|
|
|
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|
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|
|
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|
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|
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
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|
|
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|
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|
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|
|
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|
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|
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|
|
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|
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|
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|
|
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|
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|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
task_categories:
|
| 2 |
+
- robotics
|
| 3 |
+
language:
|
| 4 |
+
- en
|
| 5 |
+
tags:
|
| 6 |
+
- RoboCOIN
|
| 7 |
+
- LeRobot
|
| 8 |
+
license: apache-2.0
|
| 9 |
+
configs:
|
| 10 |
+
- config_name: default
|
| 11 |
+
data_files: data/chunk-{id}/episode_{id}.parquet
|
| 12 |
+
extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
|
| 13 |
+
in your research/publications—see the "Citation" section for details. You agree
|
| 14 |
+
to not use the dataset to conduct experiments that cause harm to human subjects.
|
| 15 |
+
extra_gated_fields:
|
| 16 |
+
Company/Organization:
|
| 17 |
+
type: text
|
| 18 |
+
description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
|
| 19 |
+
Country:
|
| 20 |
+
type: country
|
| 21 |
+
description: e.g., "Germany", "China", "United States"
|
| 22 |
+
codebase_version: v2.1
|
| 23 |
+
dataset_name: Galbot_G1_clear_table_trash_1
|
| 24 |
+
dataset_uuid: 0e9ed500-d135-4a01-bf41-31f504b337d4
|
| 25 |
+
scene_type:
|
| 26 |
+
level1: Household
|
| 27 |
+
level2: Living Room
|
| 28 |
+
level3: null
|
| 29 |
+
level4: null
|
| 30 |
+
level5: null
|
| 31 |
+
env_type: real_world
|
| 32 |
+
objects:
|
| 33 |
+
- id: trash_can
|
| 34 |
+
name: trash can
|
| 35 |
+
color: black
|
| 36 |
+
anchor_policy: static
|
| 37 |
+
- id: bottled_beverages
|
| 38 |
+
name: bottled beverages
|
| 39 |
+
color: brown
|
| 40 |
+
anchor_policy: static
|
| 41 |
+
- id: canned_beverages
|
| 42 |
+
name: canned beverages
|
| 43 |
+
color: none
|
| 44 |
+
anchor_policy: static
|
| 45 |
+
- id: '1'
|
| 46 |
+
name: canned beverages
|
| 47 |
+
color: white
|
| 48 |
+
anchor_policy: static
|
| 49 |
+
- id: '2'
|
| 50 |
+
name: canned beverages
|
| 51 |
+
color: red
|
| 52 |
+
anchor_policy: static
|
| 53 |
+
- id: table
|
| 54 |
+
name: table
|
| 55 |
+
color: brown
|
| 56 |
+
anchor_policy: static
|
| 57 |
+
task_operation_type: mobile_dual_arm
|
| 58 |
+
task_instruction: Move to the front of the table and place the trash on the table
|
| 59 |
+
into the trash bin.
|
| 60 |
+
sub_tasks:
|
| 61 |
+
- Move to the front of the table and place the trash on the table into the trash bin.
|
| 62 |
+
atomic_actions:
|
| 63 |
+
- move
|
| 64 |
+
- grasp
|
| 65 |
+
- place
|
| 66 |
+
robot_name: Galbot_G1
|
| 67 |
+
end_effector_type: two_finger_end_effector
|
| 68 |
+
tele_type: master_arm
|
| 69 |
+
sensor_list:
|
| 70 |
+
- cam_right_head_rgb
|
| 71 |
+
- cam_left_head_rgb
|
| 72 |
+
- cam_right_wrist_rgb
|
| 73 |
+
- cam_left_wrist_rgb
|
| 74 |
+
came_info:
|
| 75 |
+
cam_right_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 76 |
+
pix_fmt=yuv420p
|
| 77 |
+
cam_left_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 78 |
+
pix_fmt=yuv420p
|
| 79 |
+
cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 80 |
+
pix_fmt=yuv420p
|
| 81 |
+
cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 82 |
+
pix_fmt=yuv420p
|
| 83 |
+
depth_enabled: false
|
| 84 |
+
coordinate_definition: right-hand-frame
|
| 85 |
+
joint_rotation_dim: radian
|
| 86 |
+
end_rotation_dim: radian
|
| 87 |
+
end_translation_dim: meter
|
| 88 |
+
annotations:
|
| 89 |
+
- eef_acc_mag_annotation.jsonl
|
| 90 |
+
- eef_direction_annotation.jsonl
|
| 91 |
+
- eef_velocity_annotation.jsonl
|
| 92 |
+
- gripper_activity_annotation.jsonl
|
| 93 |
+
- gripper_mode_annotation.jsonl
|
| 94 |
+
statistics:
|
| 95 |
+
total_episodes: 145
|
| 96 |
+
total_frames: 267169
|
| 97 |
+
fps: 30
|
| 98 |
+
total_tasks: 1
|
| 99 |
+
total_videos: 580
|
| 100 |
+
total_chunks: 1
|
| 101 |
+
chunks_size: 10000
|
| 102 |
+
state_dim: 31
|
| 103 |
+
action_dim: 31
|
| 104 |
+
camera_views: 4
|
| 105 |
+
dataset_size: 15.94 GB
|
| 106 |
+
frame_num: 267169
|
| 107 |
+
frame_range: 1M
|
| 108 |
+
dataset_size: 15.94 GB
|
| 109 |
+
data_structure: 'Galbot_G1_clear_table_trash_1_qced_hardlink/
|
| 110 |
+
|
| 111 |
+
|-- annotations
|
| 112 |
+
|
| 113 |
+
| |-- eef_acc_mag_annotation.jsonl
|
| 114 |
+
|
| 115 |
+
| |-- eef_direction_annotation.jsonl
|
| 116 |
+
|
| 117 |
+
| |-- eef_velocity_annotation.jsonl
|
| 118 |
+
|
| 119 |
+
| |-- gripper_activity_annotation.jsonl
|
| 120 |
+
|
| 121 |
+
| `-- gripper_mode_annotation.jsonl
|
| 122 |
+
|
| 123 |
+
|-- data
|
| 124 |
+
|
| 125 |
+
| `-- chunk-000
|
| 126 |
+
|
| 127 |
+
| |-- episode_000000.parquet
|
| 128 |
+
|
| 129 |
+
| |-- episode_000001.parquet
|
| 130 |
+
|
| 131 |
+
| |-- episode_000002.parquet
|
| 132 |
+
|
| 133 |
+
| |-- episode_000003.parquet
|
| 134 |
+
|
| 135 |
+
| |-- episode_000004.parquet
|
| 136 |
+
|
| 137 |
+
| |-- episode_000005.parquet
|
| 138 |
+
|
| 139 |
+
| |-- episode_000006.parquet
|
| 140 |
+
|
| 141 |
+
| |-- episode_000007.parquet
|
| 142 |
+
|
| 143 |
+
| |-- episode_000008.parquet
|
| 144 |
+
|
| 145 |
+
| |-- episode_000009.parquet
|
| 146 |
+
|
| 147 |
+
| |-- episode_000010.parquet
|
| 148 |
+
|
| 149 |
+
| `-- episode_000011.parquet
|
| 150 |
+
|
| 151 |
+
| `-- ... (133 more entries)
|
| 152 |
+
|
| 153 |
+
|-- meta
|
| 154 |
+
|
| 155 |
+
| |-- episodes.jsonl
|
| 156 |
+
|
| 157 |
+
| |-- episodes_stats.jsonl
|
| 158 |
+
|
| 159 |
+
| |-- info.json
|
| 160 |
+
|
| 161 |
+
| `-- tasks.jsonl
|
| 162 |
+
|
| 163 |
+
|-- videos
|
| 164 |
+
|
| 165 |
+
| `-- chunk-000
|
| 166 |
+
|
| 167 |
+
| |-- observation.images.cam_left_head_rgb
|
| 168 |
+
|
| 169 |
+
| |-- observation.images.cam_left_wrist_rgb
|
| 170 |
+
|
| 171 |
+
| |-- observation.images.cam_right_head_rgb
|
| 172 |
+
|
| 173 |
+
| `-- observation.images.cam_right_wrist_rgb
|
| 174 |
+
|
| 175 |
+
|-- info.yaml
|
| 176 |
+
|
| 177 |
+
`-- README.md'
|
| 178 |
+
splits:
|
| 179 |
+
train: 0:144
|
| 180 |
+
features:
|
| 181 |
+
action:
|
| 182 |
+
dtype: float32
|
| 183 |
+
names:
|
| 184 |
+
- right_arm_joint_1_rad
|
| 185 |
+
- right_arm_joint_2_rad
|
| 186 |
+
- right_arm_joint_3_rad
|
| 187 |
+
- right_arm_joint_4_rad
|
| 188 |
+
- right_arm_joint_5_rad
|
| 189 |
+
- right_arm_joint_6_rad
|
| 190 |
+
- right_arm_joint_7_rad
|
| 191 |
+
- right_gripper_open
|
| 192 |
+
- left_arm_joint_1_rad
|
| 193 |
+
- left_arm_joint_2_rad
|
| 194 |
+
- left_arm_joint_3_rad
|
| 195 |
+
- left_arm_joint_4_rad
|
| 196 |
+
- left_arm_joint_5_rad
|
| 197 |
+
- left_arm_joint_6_rad
|
| 198 |
+
- left_arm_joint_7_rad
|
| 199 |
+
- left_gripper_open
|
| 200 |
+
- torso_joint_1_rad
|
| 201 |
+
- torso_joint_2_rad
|
| 202 |
+
- torso_joint_3_rad
|
| 203 |
+
- torso_joint_4_rad
|
| 204 |
+
- torso_joint_5_rad
|
| 205 |
+
- head_joint_1_rad
|
| 206 |
+
- head_joint_2_rad
|
| 207 |
+
- chassis_pos_1
|
| 208 |
+
- chassis_pos_2
|
| 209 |
+
- chassis_pos_3
|
| 210 |
+
- chassis_pos_4
|
| 211 |
+
- chassis_vel_1
|
| 212 |
+
- chassis_vel_2
|
| 213 |
+
- chassis_vel_3
|
| 214 |
+
- chassis_vel_4
|
| 215 |
+
shape:
|
| 216 |
+
- 31
|
| 217 |
+
observation.state:
|
| 218 |
+
dtype: float32
|
| 219 |
+
names:
|
| 220 |
+
- right_arm_joint_1_rad
|
| 221 |
+
- right_arm_joint_2_rad
|
| 222 |
+
- right_arm_joint_3_rad
|
| 223 |
+
- right_arm_joint_4_rad
|
| 224 |
+
- right_arm_joint_5_rad
|
| 225 |
+
- right_arm_joint_6_rad
|
| 226 |
+
- right_arm_joint_7_rad
|
| 227 |
+
- right_gripper_open
|
| 228 |
+
- left_arm_joint_1_rad
|
| 229 |
+
- left_arm_joint_2_rad
|
| 230 |
+
- left_arm_joint_3_rad
|
| 231 |
+
- left_arm_joint_4_rad
|
| 232 |
+
- left_arm_joint_5_rad
|
| 233 |
+
- left_arm_joint_6_rad
|
| 234 |
+
- left_arm_joint_7_rad
|
| 235 |
+
- left_gripper_open
|
| 236 |
+
- torso_joint_1_rad
|
| 237 |
+
- torso_joint_2_rad
|
| 238 |
+
- torso_joint_3_rad
|
| 239 |
+
- torso_joint_4_rad
|
| 240 |
+
- torso_joint_5_rad
|
| 241 |
+
- head_joint_1_rad
|
| 242 |
+
- head_joint_2_rad
|
| 243 |
+
- chassis_pos_1
|
| 244 |
+
- chassis_pos_2
|
| 245 |
+
- chassis_pos_3
|
| 246 |
+
- chassis_pos_4
|
| 247 |
+
- chassis_vel_1
|
| 248 |
+
- chassis_vel_2
|
| 249 |
+
- chassis_vel_3
|
| 250 |
+
- chassis_vel_4
|
| 251 |
+
shape:
|
| 252 |
+
- 31
|
| 253 |
+
observation.images.cam_right_head_rgb:
|
| 254 |
+
dtype: video
|
| 255 |
+
shape:
|
| 256 |
+
- 480
|
| 257 |
+
- 640
|
| 258 |
+
- 3
|
| 259 |
+
names:
|
| 260 |
+
- height
|
| 261 |
+
- width
|
| 262 |
+
- channels
|
| 263 |
+
info:
|
| 264 |
+
video.fps: 30
|
| 265 |
+
video.height: 480
|
| 266 |
+
video.width: 640
|
| 267 |
+
video.channels: 3
|
| 268 |
+
video.codec: libx264
|
| 269 |
+
video.pix_fmt: yuv420p
|
| 270 |
+
video.is_depth_map: false
|
| 271 |
+
has_audio: false
|
| 272 |
+
observation.images.cam_left_head_rgb:
|
| 273 |
+
dtype: video
|
| 274 |
+
shape:
|
| 275 |
+
- 480
|
| 276 |
+
- 640
|
| 277 |
+
- 3
|
| 278 |
+
names:
|
| 279 |
+
- height
|
| 280 |
+
- width
|
| 281 |
+
- channels
|
| 282 |
+
info:
|
| 283 |
+
video.fps: 30
|
| 284 |
+
video.height: 480
|
| 285 |
+
video.width: 640
|
| 286 |
+
video.channels: 3
|
| 287 |
+
video.codec: libx264
|
| 288 |
+
video.pix_fmt: yuv420p
|
| 289 |
+
video.is_depth_map: false
|
| 290 |
+
has_audio: false
|
| 291 |
+
observation.images.cam_right_wrist_rgb:
|
| 292 |
+
dtype: video
|
| 293 |
+
shape:
|
| 294 |
+
- 480
|
| 295 |
+
- 640
|
| 296 |
+
- 3
|
| 297 |
+
names:
|
| 298 |
+
- height
|
| 299 |
+
- width
|
| 300 |
+
- channels
|
| 301 |
+
info:
|
| 302 |
+
video.fps: 30
|
| 303 |
+
video.height: 480
|
| 304 |
+
video.width: 640
|
| 305 |
+
video.channels: 3
|
| 306 |
+
video.codec: libx264
|
| 307 |
+
video.pix_fmt: yuv420p
|
| 308 |
+
video.is_depth_map: false
|
| 309 |
+
has_audio: false
|
| 310 |
+
observation.images.cam_left_wrist_rgb:
|
| 311 |
+
dtype: video
|
| 312 |
+
shape:
|
| 313 |
+
- 480
|
| 314 |
+
- 640
|
| 315 |
+
- 3
|
| 316 |
+
names:
|
| 317 |
+
- height
|
| 318 |
+
- width
|
| 319 |
+
- channels
|
| 320 |
+
info:
|
| 321 |
+
video.fps: 30
|
| 322 |
+
video.height: 480
|
| 323 |
+
video.width: 640
|
| 324 |
+
video.channels: 3
|
| 325 |
+
video.codec: libx264
|
| 326 |
+
video.pix_fmt: yuv420p
|
| 327 |
+
video.is_depth_map: false
|
| 328 |
+
has_audio: false
|
| 329 |
+
timestamp:
|
| 330 |
+
dtype: float32
|
| 331 |
+
shape:
|
| 332 |
+
- 1
|
| 333 |
+
names: null
|
| 334 |
+
frame_index:
|
| 335 |
+
dtype: int64
|
| 336 |
+
shape:
|
| 337 |
+
- 1
|
| 338 |
+
names: null
|
| 339 |
+
episode_index:
|
| 340 |
+
dtype: int64
|
| 341 |
+
shape:
|
| 342 |
+
- 1
|
| 343 |
+
names: null
|
| 344 |
+
index:
|
| 345 |
+
dtype: int64
|
| 346 |
+
shape:
|
| 347 |
+
- 1
|
| 348 |
+
names: null
|
| 349 |
+
task_index:
|
| 350 |
+
dtype: int64
|
| 351 |
+
shape:
|
| 352 |
+
- 1
|
| 353 |
+
names: null
|
| 354 |
+
gripper_open_scale_state:
|
| 355 |
+
names:
|
| 356 |
+
- left_gripper_open_scale
|
| 357 |
+
- right_gripper_open_scale
|
| 358 |
+
dtype: float64
|
| 359 |
+
shape:
|
| 360 |
+
- 2
|
| 361 |
+
gripper_open_scale_action:
|
| 362 |
+
names:
|
| 363 |
+
- left_gripper_open_scale
|
| 364 |
+
- right_gripper_open_scale
|
| 365 |
+
dtype: float64
|
| 366 |
+
shape:
|
| 367 |
+
- 2
|
| 368 |
+
eef_sim_pose_state:
|
| 369 |
+
names:
|
| 370 |
+
- left_eef_pos_x
|
| 371 |
+
- left_eef_pos_y
|
| 372 |
+
- left_eef_pos_z
|
| 373 |
+
- left_eef_rot_x
|
| 374 |
+
- left_eef_rot_y
|
| 375 |
+
- left_eef_rot_z
|
| 376 |
+
- right_eef_pos_x
|
| 377 |
+
- right_eef_pos_y
|
| 378 |
+
- right_eef_pos_z
|
| 379 |
+
- right_eef_rot_x
|
| 380 |
+
- right_eef_rot_y
|
| 381 |
+
- right_eef_rot_z
|
| 382 |
+
dtype: float32
|
| 383 |
+
shape:
|
| 384 |
+
- 12
|
| 385 |
+
eef_sim_pose_action:
|
| 386 |
+
names:
|
| 387 |
+
- left_eef_pos_x
|
| 388 |
+
- left_eef_pos_y
|
| 389 |
+
- left_eef_pos_z
|
| 390 |
+
- left_eef_rot_x
|
| 391 |
+
- left_eef_rot_y
|
| 392 |
+
- left_eef_rot_z
|
| 393 |
+
- right_eef_pos_x
|
| 394 |
+
- right_eef_pos_y
|
| 395 |
+
- right_eef_pos_z
|
| 396 |
+
- right_eef_rot_x
|
| 397 |
+
- right_eef_rot_y
|
| 398 |
+
- right_eef_rot_z
|
| 399 |
+
dtype: float32
|
| 400 |
+
shape:
|
| 401 |
+
- 12
|
| 402 |
+
eef_direction_state:
|
| 403 |
+
names:
|
| 404 |
+
- left_eef_direction
|
| 405 |
+
- right_eef_direction
|
| 406 |
+
dtype: int32
|
| 407 |
+
shape:
|
| 408 |
+
- 2
|
| 409 |
+
eef_direction_action:
|
| 410 |
+
names:
|
| 411 |
+
- left_eef_direction
|
| 412 |
+
- right_eef_direction
|
| 413 |
+
dtype: int32
|
| 414 |
+
shape:
|
| 415 |
+
- 2
|
| 416 |
+
eef_velocity_state:
|
| 417 |
+
names:
|
| 418 |
+
- left_eef_velocity
|
| 419 |
+
- right_eef_velocity
|
| 420 |
+
dtype: int32
|
| 421 |
+
shape:
|
| 422 |
+
- 2
|
| 423 |
+
eef_velocity_action:
|
| 424 |
+
names:
|
| 425 |
+
- left_eef_velocity
|
| 426 |
+
- right_eef_velocity
|
| 427 |
+
dtype: int32
|
| 428 |
+
shape:
|
| 429 |
+
- 2
|
| 430 |
+
eef_acc_mag_state:
|
| 431 |
+
names:
|
| 432 |
+
- left_eef_acc_mag
|
| 433 |
+
- right_eef_acc_mag
|
| 434 |
+
dtype: int32
|
| 435 |
+
shape:
|
| 436 |
+
- 2
|
| 437 |
+
eef_acc_mag_action:
|
| 438 |
+
names:
|
| 439 |
+
- left_eef_acc_mag
|
| 440 |
+
- right_eef_acc_mag
|
| 441 |
+
dtype: int32
|
| 442 |
+
shape:
|
| 443 |
+
- 2
|
| 444 |
+
gripper_mode_state:
|
| 445 |
+
names:
|
| 446 |
+
- left_gripper_mode
|
| 447 |
+
- right_gripper_mode
|
| 448 |
+
dtype: int32
|
| 449 |
+
shape:
|
| 450 |
+
- 2
|
| 451 |
+
gripper_mode_action:
|
| 452 |
+
names:
|
| 453 |
+
- left_gripper_mode
|
| 454 |
+
- right_gripper_mode
|
| 455 |
+
dtype: int32
|
| 456 |
+
shape:
|
| 457 |
+
- 2
|
| 458 |
+
gripper_activity_state:
|
| 459 |
+
names:
|
| 460 |
+
- left_gripper_activity
|
| 461 |
+
- right_gripper_activity
|
| 462 |
+
dtype: int32
|
| 463 |
+
shape:
|
| 464 |
+
- 2
|
| 465 |
+
gripper_activity_action:
|
| 466 |
+
names:
|
| 467 |
+
- left_gripper_activity
|
| 468 |
+
- right_gripper_activity
|
| 469 |
+
dtype: int32
|
| 470 |
+
shape:
|
| 471 |
+
- 2
|
| 472 |
+
authors:
|
| 473 |
+
contributed_by:
|
| 474 |
+
- name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
|
| 475 |
+
dataset_description: This dataset uses an extended format based on LeRobot and is
|
| 476 |
+
fully compatible with LeRobot.
|
| 477 |
+
homepage: https://flagopen.github.io/RoboCOIN/
|
| 478 |
+
paper: https://arxiv.org/abs/2511.17441
|
| 479 |
+
repository: https://github.com/FlagOpen/RoboCOIN
|
| 480 |
+
contact_info: For questions, issues, or feedback regarding this dataset, please contact
|
| 481 |
+
us.
|
| 482 |
+
support_info: For technical support, please open an issue on our GitHub repository.
|
| 483 |
+
license_details: apache-2.0
|
| 484 |
+
citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\
|
| 485 |
+
\ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\
|
| 486 |
+
\ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
|
| 487 |
+
\ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
|
| 488 |
+
\ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
|
| 489 |
+
\ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
|
| 490 |
+
\ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
|
| 491 |
+
\ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
|
| 492 |
+
\ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
|
| 493 |
+
\ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
|
| 494 |
+
\ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
|
| 495 |
+
\ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
|
| 496 |
+
\ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
|
| 497 |
+
\ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
|
| 498 |
+
\ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\
|
| 499 |
+
\ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n"
|
| 500 |
+
additional_citations: 'If you use this dataset, please also consider citing:
|
| 501 |
+
|
| 502 |
+
LeRobot Framework: https://github.com/huggingface/lerobot
|
| 503 |
+
|
| 504 |
+
'
|
| 505 |
+
version_info: Initial Release
|
| 506 |
+
data_path: data/chunk-{id}/episode_{id}.parquet
|
| 507 |
+
video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
|
| 508 |
+
video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4
|
dataset_info/Galbot_G1_clear_table_trash_2.yaml
ADDED
|
@@ -0,0 +1,533 @@
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
task_categories:
|
| 2 |
+
- robotics
|
| 3 |
+
language:
|
| 4 |
+
- en
|
| 5 |
+
tags:
|
| 6 |
+
- RoboCOIN
|
| 7 |
+
- LeRobot
|
| 8 |
+
license: apache-2.0
|
| 9 |
+
configs:
|
| 10 |
+
- config_name: default
|
| 11 |
+
data_files: data/chunk-{id}/episode_{id}.parquet
|
| 12 |
+
extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
|
| 13 |
+
in your research/publications—see the "Citation" section for details. You agree
|
| 14 |
+
to not use the dataset to conduct experiments that cause harm to human subjects.
|
| 15 |
+
extra_gated_fields:
|
| 16 |
+
Company/Organization:
|
| 17 |
+
type: text
|
| 18 |
+
description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
|
| 19 |
+
Country:
|
| 20 |
+
type: country
|
| 21 |
+
description: e.g., "Germany", "China", "United States"
|
| 22 |
+
codebase_version: v2.1
|
| 23 |
+
dataset_name: Galbot_G1_clear_table_trash_2
|
| 24 |
+
dataset_uuid: 65814229-4323-4da6-a266-4caa6a7b7b9a
|
| 25 |
+
scene_type:
|
| 26 |
+
level1: Household
|
| 27 |
+
level2: Living Room
|
| 28 |
+
level3: null
|
| 29 |
+
level4: null
|
| 30 |
+
level5: null
|
| 31 |
+
env_type: real_world
|
| 32 |
+
objects:
|
| 33 |
+
- id: trash_can
|
| 34 |
+
name: trash can
|
| 35 |
+
color: blue
|
| 36 |
+
anchor_policy: static
|
| 37 |
+
- id: canned_beverages
|
| 38 |
+
name: canned beverages
|
| 39 |
+
color: red
|
| 40 |
+
anchor_policy: static
|
| 41 |
+
- id: disposable_cup_lid
|
| 42 |
+
name: disposable cup lid
|
| 43 |
+
color: white
|
| 44 |
+
anchor_policy: static
|
| 45 |
+
- id: medical_mask
|
| 46 |
+
name: medical mask
|
| 47 |
+
color: blue
|
| 48 |
+
anchor_policy: static
|
| 49 |
+
- id: paper_cup
|
| 50 |
+
name: paper cup
|
| 51 |
+
color: none
|
| 52 |
+
anchor_policy: static
|
| 53 |
+
- id: toothpaste_packaging
|
| 54 |
+
name: toothpaste packaging
|
| 55 |
+
color: black
|
| 56 |
+
anchor_policy: static
|
| 57 |
+
- id: toilet_paper
|
| 58 |
+
name: toilet paper
|
| 59 |
+
color: white
|
| 60 |
+
anchor_policy: static
|
| 61 |
+
- id: snack_wrapper
|
| 62 |
+
name: snack wrapper
|
| 63 |
+
color: yellow
|
| 64 |
+
anchor_policy: static
|
| 65 |
+
- id: table
|
| 66 |
+
name: table
|
| 67 |
+
color: white
|
| 68 |
+
anchor_policy: static
|
| 69 |
+
task_operation_type: fixed_dual_arm
|
| 70 |
+
task_instruction: Pick up the trash bin and place the trash from the table into it.
|
| 71 |
+
sub_tasks:
|
| 72 |
+
- Pick up the trash bin and place the trash from the table into it.
|
| 73 |
+
atomic_actions:
|
| 74 |
+
- grasp
|
| 75 |
+
- place
|
| 76 |
+
robot_name: Galbot_G1
|
| 77 |
+
end_effector_type: two_finger_end_effector
|
| 78 |
+
tele_type: master_arm
|
| 79 |
+
sensor_list:
|
| 80 |
+
- cam_right_head_rgb
|
| 81 |
+
- cam_left_head_rgb
|
| 82 |
+
- cam_right_wrist_rgb
|
| 83 |
+
- cam_left_wrist_rgb
|
| 84 |
+
came_info:
|
| 85 |
+
cam_right_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 86 |
+
pix_fmt=yuv420p
|
| 87 |
+
cam_left_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 88 |
+
pix_fmt=yuv420p
|
| 89 |
+
cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 90 |
+
pix_fmt=yuv420p
|
| 91 |
+
cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 92 |
+
pix_fmt=yuv420p
|
| 93 |
+
depth_enabled: false
|
| 94 |
+
coordinate_definition: right-hand-frame
|
| 95 |
+
joint_rotation_dim: radian
|
| 96 |
+
end_rotation_dim: radian
|
| 97 |
+
end_translation_dim: meter
|
| 98 |
+
base_translation_dim: meter
|
| 99 |
+
annotations:
|
| 100 |
+
- eef_acc_mag_annotation.jsonl
|
| 101 |
+
- eef_direction_annotation.jsonl
|
| 102 |
+
- eef_velocity_annotation.jsonl
|
| 103 |
+
- gripper_activity_annotation.jsonl
|
| 104 |
+
- gripper_mode_annotation.jsonl
|
| 105 |
+
statistics:
|
| 106 |
+
total_episodes: 98
|
| 107 |
+
total_frames: 327334
|
| 108 |
+
fps: 30
|
| 109 |
+
total_tasks: 1
|
| 110 |
+
total_videos: 392
|
| 111 |
+
total_chunks: 1
|
| 112 |
+
chunks_size: 10000
|
| 113 |
+
state_dim: 38
|
| 114 |
+
action_dim: 38
|
| 115 |
+
camera_views: 4
|
| 116 |
+
dataset_size: 15.61 GB
|
| 117 |
+
frame_num: 327334
|
| 118 |
+
frame_range: 1M
|
| 119 |
+
dataset_size: 15.61 GB
|
| 120 |
+
data_structure: 'Galbot_G1_clear_table_trash_2_qced_hardlink/
|
| 121 |
+
|
| 122 |
+
|-- annotations
|
| 123 |
+
|
| 124 |
+
| |-- eef_acc_mag_annotation.jsonl
|
| 125 |
+
|
| 126 |
+
| |-- eef_direction_annotation.jsonl
|
| 127 |
+
|
| 128 |
+
| |-- eef_velocity_annotation.jsonl
|
| 129 |
+
|
| 130 |
+
| |-- gripper_activity_annotation.jsonl
|
| 131 |
+
|
| 132 |
+
| `-- gripper_mode_annotation.jsonl
|
| 133 |
+
|
| 134 |
+
|-- data
|
| 135 |
+
|
| 136 |
+
| `-- chunk-000
|
| 137 |
+
|
| 138 |
+
| |-- episode_000000.parquet
|
| 139 |
+
|
| 140 |
+
| |-- episode_000001.parquet
|
| 141 |
+
|
| 142 |
+
| |-- episode_000002.parquet
|
| 143 |
+
|
| 144 |
+
| |-- episode_000003.parquet
|
| 145 |
+
|
| 146 |
+
| |-- episode_000004.parquet
|
| 147 |
+
|
| 148 |
+
| |-- episode_000005.parquet
|
| 149 |
+
|
| 150 |
+
| |-- episode_000006.parquet
|
| 151 |
+
|
| 152 |
+
| |-- episode_000007.parquet
|
| 153 |
+
|
| 154 |
+
| |-- episode_000008.parquet
|
| 155 |
+
|
| 156 |
+
| |-- episode_000009.parquet
|
| 157 |
+
|
| 158 |
+
| |-- episode_000010.parquet
|
| 159 |
+
|
| 160 |
+
| `-- episode_000011.parquet
|
| 161 |
+
|
| 162 |
+
| `-- ... (86 more entries)
|
| 163 |
+
|
| 164 |
+
|-- meta
|
| 165 |
+
|
| 166 |
+
| |-- episodes.jsonl
|
| 167 |
+
|
| 168 |
+
| |-- episodes_stats.jsonl
|
| 169 |
+
|
| 170 |
+
| |-- info.json
|
| 171 |
+
|
| 172 |
+
| `-- tasks.jsonl
|
| 173 |
+
|
| 174 |
+
|-- videos
|
| 175 |
+
|
| 176 |
+
| `-- chunk-000
|
| 177 |
+
|
| 178 |
+
| |-- observation.images.cam_left_head_rgb
|
| 179 |
+
|
| 180 |
+
| |-- observation.images.cam_left_wrist_rgb
|
| 181 |
+
|
| 182 |
+
| |-- observation.images.cam_right_head_rgb
|
| 183 |
+
|
| 184 |
+
| `-- observation.images.cam_right_wrist_rgb
|
| 185 |
+
|
| 186 |
+
|-- info.yaml
|
| 187 |
+
|
| 188 |
+
`-- README.md'
|
| 189 |
+
splits:
|
| 190 |
+
train: 0:97
|
| 191 |
+
features:
|
| 192 |
+
action:
|
| 193 |
+
dtype: float32
|
| 194 |
+
names:
|
| 195 |
+
- right_arm_joint_1_rad
|
| 196 |
+
- right_arm_joint_2_rad
|
| 197 |
+
- right_arm_joint_3_rad
|
| 198 |
+
- right_arm_joint_4_rad
|
| 199 |
+
- right_arm_joint_5_rad
|
| 200 |
+
- right_arm_joint_6_rad
|
| 201 |
+
- right_arm_joint_7_rad
|
| 202 |
+
- right_gripper_open
|
| 203 |
+
- left_arm_joint_1_rad
|
| 204 |
+
- left_arm_joint_2_rad
|
| 205 |
+
- left_arm_joint_3_rad
|
| 206 |
+
- left_arm_joint_4_rad
|
| 207 |
+
- left_arm_joint_5_rad
|
| 208 |
+
- left_arm_joint_6_rad
|
| 209 |
+
- left_arm_joint_7_rad
|
| 210 |
+
- left_gripper_open
|
| 211 |
+
- torso_joint_1_rad
|
| 212 |
+
- torso_joint_2_rad
|
| 213 |
+
- torso_joint_3_rad
|
| 214 |
+
- torso_joint_4_rad
|
| 215 |
+
- torso_joint_5_rad
|
| 216 |
+
- head_joint_1_rad
|
| 217 |
+
- head_joint_2_rad
|
| 218 |
+
- chassis_pos_1
|
| 219 |
+
- chassis_pos_2
|
| 220 |
+
- chassis_pos_3
|
| 221 |
+
- chassis_pos_4
|
| 222 |
+
- chassis_vel_1
|
| 223 |
+
- chassis_vel_2
|
| 224 |
+
- chassis_vel_3
|
| 225 |
+
- chassis_vel_4
|
| 226 |
+
- base_pos_x_m
|
| 227 |
+
- base_pos_y_m
|
| 228 |
+
- base_orient_quat_z
|
| 229 |
+
- base_orient_quat_w
|
| 230 |
+
- base_vel_x_m_s
|
| 231 |
+
- base_vel_y_m_s
|
| 232 |
+
- base_vel_angular_z_rad_s
|
| 233 |
+
shape:
|
| 234 |
+
- 38
|
| 235 |
+
observation.state:
|
| 236 |
+
dtype: float32
|
| 237 |
+
names:
|
| 238 |
+
- right_arm_joint_1_rad
|
| 239 |
+
- right_arm_joint_2_rad
|
| 240 |
+
- right_arm_joint_3_rad
|
| 241 |
+
- right_arm_joint_4_rad
|
| 242 |
+
- right_arm_joint_5_rad
|
| 243 |
+
- right_arm_joint_6_rad
|
| 244 |
+
- right_arm_joint_7_rad
|
| 245 |
+
- right_gripper_open
|
| 246 |
+
- left_arm_joint_1_rad
|
| 247 |
+
- left_arm_joint_2_rad
|
| 248 |
+
- left_arm_joint_3_rad
|
| 249 |
+
- left_arm_joint_4_rad
|
| 250 |
+
- left_arm_joint_5_rad
|
| 251 |
+
- left_arm_joint_6_rad
|
| 252 |
+
- left_arm_joint_7_rad
|
| 253 |
+
- left_gripper_open
|
| 254 |
+
- torso_joint_1_rad
|
| 255 |
+
- torso_joint_2_rad
|
| 256 |
+
- torso_joint_3_rad
|
| 257 |
+
- torso_joint_4_rad
|
| 258 |
+
- torso_joint_5_rad
|
| 259 |
+
- head_joint_1_rad
|
| 260 |
+
- head_joint_2_rad
|
| 261 |
+
- chassis_pos_1
|
| 262 |
+
- chassis_pos_2
|
| 263 |
+
- chassis_pos_3
|
| 264 |
+
- chassis_pos_4
|
| 265 |
+
- chassis_vel_1
|
| 266 |
+
- chassis_vel_2
|
| 267 |
+
- chassis_vel_3
|
| 268 |
+
- chassis_vel_4
|
| 269 |
+
- base_pos_x_m
|
| 270 |
+
- base_pos_y_m
|
| 271 |
+
- base_orient_quat_z
|
| 272 |
+
- base_orient_quat_w
|
| 273 |
+
- base_vel_x_m_s
|
| 274 |
+
- base_vel_y_m_s
|
| 275 |
+
- base_vel_angular_z_rad_s
|
| 276 |
+
shape:
|
| 277 |
+
- 38
|
| 278 |
+
observation.images.cam_right_head_rgb:
|
| 279 |
+
dtype: video
|
| 280 |
+
shape:
|
| 281 |
+
- 480
|
| 282 |
+
- 640
|
| 283 |
+
- 3
|
| 284 |
+
names:
|
| 285 |
+
- height
|
| 286 |
+
- width
|
| 287 |
+
- channels
|
| 288 |
+
info:
|
| 289 |
+
video.fps: 30
|
| 290 |
+
video.height: 480
|
| 291 |
+
video.width: 640
|
| 292 |
+
video.channels: 3
|
| 293 |
+
video.codec: libx264
|
| 294 |
+
video.pix_fmt: yuv420p
|
| 295 |
+
video.is_depth_map: false
|
| 296 |
+
has_audio: false
|
| 297 |
+
observation.images.cam_left_head_rgb:
|
| 298 |
+
dtype: video
|
| 299 |
+
shape:
|
| 300 |
+
- 480
|
| 301 |
+
- 640
|
| 302 |
+
- 3
|
| 303 |
+
names:
|
| 304 |
+
- height
|
| 305 |
+
- width
|
| 306 |
+
- channels
|
| 307 |
+
info:
|
| 308 |
+
video.fps: 30
|
| 309 |
+
video.height: 480
|
| 310 |
+
video.width: 640
|
| 311 |
+
video.channels: 3
|
| 312 |
+
video.codec: libx264
|
| 313 |
+
video.pix_fmt: yuv420p
|
| 314 |
+
video.is_depth_map: false
|
| 315 |
+
has_audio: false
|
| 316 |
+
observation.images.cam_right_wrist_rgb:
|
| 317 |
+
dtype: video
|
| 318 |
+
shape:
|
| 319 |
+
- 480
|
| 320 |
+
- 640
|
| 321 |
+
- 3
|
| 322 |
+
names:
|
| 323 |
+
- height
|
| 324 |
+
- width
|
| 325 |
+
- channels
|
| 326 |
+
info:
|
| 327 |
+
video.fps: 30
|
| 328 |
+
video.height: 480
|
| 329 |
+
video.width: 640
|
| 330 |
+
video.channels: 3
|
| 331 |
+
video.codec: libx264
|
| 332 |
+
video.pix_fmt: yuv420p
|
| 333 |
+
video.is_depth_map: false
|
| 334 |
+
has_audio: false
|
| 335 |
+
observation.images.cam_left_wrist_rgb:
|
| 336 |
+
dtype: video
|
| 337 |
+
shape:
|
| 338 |
+
- 480
|
| 339 |
+
- 640
|
| 340 |
+
- 3
|
| 341 |
+
names:
|
| 342 |
+
- height
|
| 343 |
+
- width
|
| 344 |
+
- channels
|
| 345 |
+
info:
|
| 346 |
+
video.fps: 30
|
| 347 |
+
video.height: 480
|
| 348 |
+
video.width: 640
|
| 349 |
+
video.channels: 3
|
| 350 |
+
video.codec: libx264
|
| 351 |
+
video.pix_fmt: yuv420p
|
| 352 |
+
video.is_depth_map: false
|
| 353 |
+
has_audio: false
|
| 354 |
+
timestamp:
|
| 355 |
+
dtype: float32
|
| 356 |
+
shape:
|
| 357 |
+
- 1
|
| 358 |
+
names: null
|
| 359 |
+
frame_index:
|
| 360 |
+
dtype: int64
|
| 361 |
+
shape:
|
| 362 |
+
- 1
|
| 363 |
+
names: null
|
| 364 |
+
episode_index:
|
| 365 |
+
dtype: int64
|
| 366 |
+
shape:
|
| 367 |
+
- 1
|
| 368 |
+
names: null
|
| 369 |
+
index:
|
| 370 |
+
dtype: int64
|
| 371 |
+
shape:
|
| 372 |
+
- 1
|
| 373 |
+
names: null
|
| 374 |
+
task_index:
|
| 375 |
+
dtype: int64
|
| 376 |
+
shape:
|
| 377 |
+
- 1
|
| 378 |
+
names: null
|
| 379 |
+
gripper_open_scale_state:
|
| 380 |
+
names:
|
| 381 |
+
- left_gripper_open_scale
|
| 382 |
+
- right_gripper_open_scale
|
| 383 |
+
dtype: float64
|
| 384 |
+
shape:
|
| 385 |
+
- 2
|
| 386 |
+
gripper_open_scale_action:
|
| 387 |
+
names:
|
| 388 |
+
- left_gripper_open_scale
|
| 389 |
+
- right_gripper_open_scale
|
| 390 |
+
dtype: float64
|
| 391 |
+
shape:
|
| 392 |
+
- 2
|
| 393 |
+
eef_sim_pose_state:
|
| 394 |
+
names:
|
| 395 |
+
- left_eef_pos_x
|
| 396 |
+
- left_eef_pos_y
|
| 397 |
+
- left_eef_pos_z
|
| 398 |
+
- left_eef_rot_x
|
| 399 |
+
- left_eef_rot_y
|
| 400 |
+
- left_eef_rot_z
|
| 401 |
+
- right_eef_pos_x
|
| 402 |
+
- right_eef_pos_y
|
| 403 |
+
- right_eef_pos_z
|
| 404 |
+
- right_eef_rot_x
|
| 405 |
+
- right_eef_rot_y
|
| 406 |
+
- right_eef_rot_z
|
| 407 |
+
dtype: float32
|
| 408 |
+
shape:
|
| 409 |
+
- 12
|
| 410 |
+
eef_sim_pose_action:
|
| 411 |
+
names:
|
| 412 |
+
- left_eef_pos_x
|
| 413 |
+
- left_eef_pos_y
|
| 414 |
+
- left_eef_pos_z
|
| 415 |
+
- left_eef_rot_x
|
| 416 |
+
- left_eef_rot_y
|
| 417 |
+
- left_eef_rot_z
|
| 418 |
+
- right_eef_pos_x
|
| 419 |
+
- right_eef_pos_y
|
| 420 |
+
- right_eef_pos_z
|
| 421 |
+
- right_eef_rot_x
|
| 422 |
+
- right_eef_rot_y
|
| 423 |
+
- right_eef_rot_z
|
| 424 |
+
dtype: float32
|
| 425 |
+
shape:
|
| 426 |
+
- 12
|
| 427 |
+
eef_direction_state:
|
| 428 |
+
names:
|
| 429 |
+
- left_eef_direction
|
| 430 |
+
- right_eef_direction
|
| 431 |
+
dtype: int32
|
| 432 |
+
shape:
|
| 433 |
+
- 2
|
| 434 |
+
eef_direction_action:
|
| 435 |
+
names:
|
| 436 |
+
- left_eef_direction
|
| 437 |
+
- right_eef_direction
|
| 438 |
+
dtype: int32
|
| 439 |
+
shape:
|
| 440 |
+
- 2
|
| 441 |
+
eef_velocity_state:
|
| 442 |
+
names:
|
| 443 |
+
- left_eef_velocity
|
| 444 |
+
- right_eef_velocity
|
| 445 |
+
dtype: int32
|
| 446 |
+
shape:
|
| 447 |
+
- 2
|
| 448 |
+
eef_velocity_action:
|
| 449 |
+
names:
|
| 450 |
+
- left_eef_velocity
|
| 451 |
+
- right_eef_velocity
|
| 452 |
+
dtype: int32
|
| 453 |
+
shape:
|
| 454 |
+
- 2
|
| 455 |
+
eef_acc_mag_state:
|
| 456 |
+
names:
|
| 457 |
+
- left_eef_acc_mag
|
| 458 |
+
- right_eef_acc_mag
|
| 459 |
+
dtype: int32
|
| 460 |
+
shape:
|
| 461 |
+
- 2
|
| 462 |
+
eef_acc_mag_action:
|
| 463 |
+
names:
|
| 464 |
+
- left_eef_acc_mag
|
| 465 |
+
- right_eef_acc_mag
|
| 466 |
+
dtype: int32
|
| 467 |
+
shape:
|
| 468 |
+
- 2
|
| 469 |
+
gripper_mode_state:
|
| 470 |
+
names:
|
| 471 |
+
- left_gripper_mode
|
| 472 |
+
- right_gripper_mode
|
| 473 |
+
dtype: int32
|
| 474 |
+
shape:
|
| 475 |
+
- 2
|
| 476 |
+
gripper_mode_action:
|
| 477 |
+
names:
|
| 478 |
+
- left_gripper_mode
|
| 479 |
+
- right_gripper_mode
|
| 480 |
+
dtype: int32
|
| 481 |
+
shape:
|
| 482 |
+
- 2
|
| 483 |
+
gripper_activity_state:
|
| 484 |
+
names:
|
| 485 |
+
- left_gripper_activity
|
| 486 |
+
- right_gripper_activity
|
| 487 |
+
dtype: int32
|
| 488 |
+
shape:
|
| 489 |
+
- 2
|
| 490 |
+
gripper_activity_action:
|
| 491 |
+
names:
|
| 492 |
+
- left_gripper_activity
|
| 493 |
+
- right_gripper_activity
|
| 494 |
+
dtype: int32
|
| 495 |
+
shape:
|
| 496 |
+
- 2
|
| 497 |
+
authors:
|
| 498 |
+
contributed_by:
|
| 499 |
+
- name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
|
| 500 |
+
dataset_description: This dataset uses an extended format based on LeRobot and is
|
| 501 |
+
fully compatible with LeRobot.
|
| 502 |
+
homepage: https://flagopen.github.io/RoboCOIN/
|
| 503 |
+
paper: https://arxiv.org/abs/2511.17441
|
| 504 |
+
repository: https://github.com/FlagOpen/RoboCOIN
|
| 505 |
+
contact_info: For questions, issues, or feedback regarding this dataset, please contact
|
| 506 |
+
us.
|
| 507 |
+
support_info: For technical support, please open an issue on our GitHub repository.
|
| 508 |
+
license_details: apache-2.0
|
| 509 |
+
citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\
|
| 510 |
+
\ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\
|
| 511 |
+
\ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
|
| 512 |
+
\ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
|
| 513 |
+
\ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
|
| 514 |
+
\ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
|
| 515 |
+
\ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
|
| 516 |
+
\ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
|
| 517 |
+
\ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
|
| 518 |
+
\ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
|
| 519 |
+
\ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
|
| 520 |
+
\ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
|
| 521 |
+
\ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
|
| 522 |
+
\ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
|
| 523 |
+
\ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\
|
| 524 |
+
\ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n"
|
| 525 |
+
additional_citations: 'If you use this dataset, please also consider citing:
|
| 526 |
+
|
| 527 |
+
LeRobot Framework: https://github.com/huggingface/lerobot
|
| 528 |
+
|
| 529 |
+
'
|
| 530 |
+
version_info: Initial Release
|
| 531 |
+
data_path: data/chunk-{id}/episode_{id}.parquet
|
| 532 |
+
video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
|
| 533 |
+
video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4
|
dataset_info/Galbot_G1_clear_table_trash_3.yaml
ADDED
|
@@ -0,0 +1,504 @@
|
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|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
task_categories:
|
| 2 |
+
- robotics
|
| 3 |
+
language:
|
| 4 |
+
- en
|
| 5 |
+
tags:
|
| 6 |
+
- RoboCOIN
|
| 7 |
+
- LeRobot
|
| 8 |
+
license: apache-2.0
|
| 9 |
+
configs:
|
| 10 |
+
- config_name: default
|
| 11 |
+
data_files: data/chunk-{id}/episode_{id}.parquet
|
| 12 |
+
extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
|
| 13 |
+
in your research/publications—see the "Citation" section for details. You agree
|
| 14 |
+
to not use the dataset to conduct experiments that cause harm to human subjects.
|
| 15 |
+
extra_gated_fields:
|
| 16 |
+
Company/Organization:
|
| 17 |
+
type: text
|
| 18 |
+
description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
|
| 19 |
+
Country:
|
| 20 |
+
type: country
|
| 21 |
+
description: e.g., "Germany", "China", "United States"
|
| 22 |
+
codebase_version: v2.1
|
| 23 |
+
dataset_name: Galbot_G1_clear_table_trash_3
|
| 24 |
+
dataset_uuid: 165b331c-c146-42f9-9478-840d49163647
|
| 25 |
+
scene_type:
|
| 26 |
+
level1: Household
|
| 27 |
+
level2: Living Room
|
| 28 |
+
level3: null
|
| 29 |
+
level4: null
|
| 30 |
+
level5: null
|
| 31 |
+
env_type: real_world
|
| 32 |
+
objects:
|
| 33 |
+
- id: table
|
| 34 |
+
name: table
|
| 35 |
+
color: brown
|
| 36 |
+
anchor_policy: static
|
| 37 |
+
- id: trash_can
|
| 38 |
+
name: trash_can
|
| 39 |
+
color: black
|
| 40 |
+
anchor_policy: static
|
| 41 |
+
- id: water_bottle
|
| 42 |
+
name: water bottle
|
| 43 |
+
color: transparent
|
| 44 |
+
anchor_policy: static
|
| 45 |
+
- id: canned_beverages
|
| 46 |
+
name: canned beverages
|
| 47 |
+
color: none
|
| 48 |
+
anchor_policy: static
|
| 49 |
+
- id: tissue_paper
|
| 50 |
+
name: tissue paper
|
| 51 |
+
color: white
|
| 52 |
+
anchor_policy: static
|
| 53 |
+
task_operation_type: mobile_dual_arm
|
| 54 |
+
task_instruction: Move to the front of the table and place the trash on the table
|
| 55 |
+
into the trash bin.
|
| 56 |
+
sub_tasks:
|
| 57 |
+
- Move to the front of the table and place the trash on the table into the trash bin.
|
| 58 |
+
atomic_actions:
|
| 59 |
+
- move
|
| 60 |
+
- grasp
|
| 61 |
+
- place
|
| 62 |
+
robot_name: Galbot_G1
|
| 63 |
+
end_effector_type: two_finger_end_effector
|
| 64 |
+
tele_type: master_arm
|
| 65 |
+
sensor_list:
|
| 66 |
+
- cam_right_head_rgb
|
| 67 |
+
- cam_left_head_rgb
|
| 68 |
+
- cam_right_wrist_rgb
|
| 69 |
+
- cam_left_wrist_rgb
|
| 70 |
+
came_info:
|
| 71 |
+
cam_right_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 72 |
+
pix_fmt=yuv420p
|
| 73 |
+
cam_left_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 74 |
+
pix_fmt=yuv420p
|
| 75 |
+
cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 76 |
+
pix_fmt=yuv420p
|
| 77 |
+
cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 78 |
+
pix_fmt=yuv420p
|
| 79 |
+
depth_enabled: false
|
| 80 |
+
coordinate_definition: right-hand-frame
|
| 81 |
+
joint_rotation_dim: radian
|
| 82 |
+
end_rotation_dim: radian
|
| 83 |
+
end_translation_dim: meter
|
| 84 |
+
annotations:
|
| 85 |
+
- eef_acc_mag_annotation.jsonl
|
| 86 |
+
- eef_direction_annotation.jsonl
|
| 87 |
+
- eef_velocity_annotation.jsonl
|
| 88 |
+
- gripper_activity_annotation.jsonl
|
| 89 |
+
- gripper_mode_annotation.jsonl
|
| 90 |
+
statistics:
|
| 91 |
+
total_episodes: 295
|
| 92 |
+
total_frames: 567065
|
| 93 |
+
fps: 30
|
| 94 |
+
total_tasks: 1
|
| 95 |
+
total_videos: 1180
|
| 96 |
+
total_chunks: 1
|
| 97 |
+
chunks_size: 10000
|
| 98 |
+
state_dim: 31
|
| 99 |
+
action_dim: 31
|
| 100 |
+
camera_views: 4
|
| 101 |
+
dataset_size: 33.14 GB
|
| 102 |
+
frame_num: 567065
|
| 103 |
+
frame_range: 1M
|
| 104 |
+
dataset_size: 33.14 GB
|
| 105 |
+
data_structure: 'Galbot_G1_clear_table_trash_3_qced_hardlink_qced_hardlink/
|
| 106 |
+
|
| 107 |
+
|-- annotations
|
| 108 |
+
|
| 109 |
+
| |-- eef_acc_mag_annotation.jsonl
|
| 110 |
+
|
| 111 |
+
| |-- eef_direction_annotation.jsonl
|
| 112 |
+
|
| 113 |
+
| |-- eef_velocity_annotation.jsonl
|
| 114 |
+
|
| 115 |
+
| |-- gripper_activity_annotation.jsonl
|
| 116 |
+
|
| 117 |
+
| `-- gripper_mode_annotation.jsonl
|
| 118 |
+
|
| 119 |
+
|-- data
|
| 120 |
+
|
| 121 |
+
| `-- chunk-000
|
| 122 |
+
|
| 123 |
+
| |-- episode_000000.parquet
|
| 124 |
+
|
| 125 |
+
| |-- episode_000001.parquet
|
| 126 |
+
|
| 127 |
+
| |-- episode_000002.parquet
|
| 128 |
+
|
| 129 |
+
| |-- episode_000003.parquet
|
| 130 |
+
|
| 131 |
+
| |-- episode_000004.parquet
|
| 132 |
+
|
| 133 |
+
| |-- episode_000005.parquet
|
| 134 |
+
|
| 135 |
+
| |-- episode_000006.parquet
|
| 136 |
+
|
| 137 |
+
| |-- episode_000007.parquet
|
| 138 |
+
|
| 139 |
+
| |-- episode_000008.parquet
|
| 140 |
+
|
| 141 |
+
| |-- episode_000009.parquet
|
| 142 |
+
|
| 143 |
+
| |-- episode_000010.parquet
|
| 144 |
+
|
| 145 |
+
| `-- episode_000011.parquet
|
| 146 |
+
|
| 147 |
+
| `-- ... (283 more entries)
|
| 148 |
+
|
| 149 |
+
|-- meta
|
| 150 |
+
|
| 151 |
+
| |-- episodes.jsonl
|
| 152 |
+
|
| 153 |
+
| |-- episodes_stats.jsonl
|
| 154 |
+
|
| 155 |
+
| |-- info.json
|
| 156 |
+
|
| 157 |
+
| `-- tasks.jsonl
|
| 158 |
+
|
| 159 |
+
|-- videos
|
| 160 |
+
|
| 161 |
+
| `-- chunk-000
|
| 162 |
+
|
| 163 |
+
| |-- observation.images.cam_left_head_rgb
|
| 164 |
+
|
| 165 |
+
| |-- observation.images.cam_left_wrist_rgb
|
| 166 |
+
|
| 167 |
+
| |-- observation.images.cam_right_head_rgb
|
| 168 |
+
|
| 169 |
+
| `-- observation.images.cam_right_wrist_rgb
|
| 170 |
+
|
| 171 |
+
|-- info.yaml
|
| 172 |
+
|
| 173 |
+
`-- README.md'
|
| 174 |
+
splits:
|
| 175 |
+
train: 0:294
|
| 176 |
+
features:
|
| 177 |
+
action:
|
| 178 |
+
dtype: float32
|
| 179 |
+
names:
|
| 180 |
+
- right_arm_joint_1_rad
|
| 181 |
+
- right_arm_joint_2_rad
|
| 182 |
+
- right_arm_joint_3_rad
|
| 183 |
+
- right_arm_joint_4_rad
|
| 184 |
+
- right_arm_joint_5_rad
|
| 185 |
+
- right_arm_joint_6_rad
|
| 186 |
+
- right_arm_joint_7_rad
|
| 187 |
+
- right_gripper_open
|
| 188 |
+
- left_arm_joint_1_rad
|
| 189 |
+
- left_arm_joint_2_rad
|
| 190 |
+
- left_arm_joint_3_rad
|
| 191 |
+
- left_arm_joint_4_rad
|
| 192 |
+
- left_arm_joint_5_rad
|
| 193 |
+
- left_arm_joint_6_rad
|
| 194 |
+
- left_arm_joint_7_rad
|
| 195 |
+
- left_gripper_open
|
| 196 |
+
- torso_joint_1_rad
|
| 197 |
+
- torso_joint_2_rad
|
| 198 |
+
- torso_joint_3_rad
|
| 199 |
+
- torso_joint_4_rad
|
| 200 |
+
- torso_joint_5_rad
|
| 201 |
+
- head_joint_1_rad
|
| 202 |
+
- head_joint_2_rad
|
| 203 |
+
- chassis_pos_1
|
| 204 |
+
- chassis_pos_2
|
| 205 |
+
- chassis_pos_3
|
| 206 |
+
- chassis_pos_4
|
| 207 |
+
- chassis_vel_1
|
| 208 |
+
- chassis_vel_2
|
| 209 |
+
- chassis_vel_3
|
| 210 |
+
- chassis_vel_4
|
| 211 |
+
shape:
|
| 212 |
+
- 31
|
| 213 |
+
observation.state:
|
| 214 |
+
dtype: float32
|
| 215 |
+
names:
|
| 216 |
+
- right_arm_joint_1_rad
|
| 217 |
+
- right_arm_joint_2_rad
|
| 218 |
+
- right_arm_joint_3_rad
|
| 219 |
+
- right_arm_joint_4_rad
|
| 220 |
+
- right_arm_joint_5_rad
|
| 221 |
+
- right_arm_joint_6_rad
|
| 222 |
+
- right_arm_joint_7_rad
|
| 223 |
+
- right_gripper_open
|
| 224 |
+
- left_arm_joint_1_rad
|
| 225 |
+
- left_arm_joint_2_rad
|
| 226 |
+
- left_arm_joint_3_rad
|
| 227 |
+
- left_arm_joint_4_rad
|
| 228 |
+
- left_arm_joint_5_rad
|
| 229 |
+
- left_arm_joint_6_rad
|
| 230 |
+
- left_arm_joint_7_rad
|
| 231 |
+
- left_gripper_open
|
| 232 |
+
- torso_joint_1_rad
|
| 233 |
+
- torso_joint_2_rad
|
| 234 |
+
- torso_joint_3_rad
|
| 235 |
+
- torso_joint_4_rad
|
| 236 |
+
- torso_joint_5_rad
|
| 237 |
+
- head_joint_1_rad
|
| 238 |
+
- head_joint_2_rad
|
| 239 |
+
- chassis_pos_1
|
| 240 |
+
- chassis_pos_2
|
| 241 |
+
- chassis_pos_3
|
| 242 |
+
- chassis_pos_4
|
| 243 |
+
- chassis_vel_1
|
| 244 |
+
- chassis_vel_2
|
| 245 |
+
- chassis_vel_3
|
| 246 |
+
- chassis_vel_4
|
| 247 |
+
shape:
|
| 248 |
+
- 31
|
| 249 |
+
observation.images.cam_right_head_rgb:
|
| 250 |
+
dtype: video
|
| 251 |
+
shape:
|
| 252 |
+
- 480
|
| 253 |
+
- 640
|
| 254 |
+
- 3
|
| 255 |
+
names:
|
| 256 |
+
- height
|
| 257 |
+
- width
|
| 258 |
+
- channels
|
| 259 |
+
info:
|
| 260 |
+
video.fps: 30
|
| 261 |
+
video.height: 480
|
| 262 |
+
video.width: 640
|
| 263 |
+
video.channels: 3
|
| 264 |
+
video.codec: libx264
|
| 265 |
+
video.pix_fmt: yuv420p
|
| 266 |
+
video.is_depth_map: false
|
| 267 |
+
has_audio: false
|
| 268 |
+
observation.images.cam_left_head_rgb:
|
| 269 |
+
dtype: video
|
| 270 |
+
shape:
|
| 271 |
+
- 480
|
| 272 |
+
- 640
|
| 273 |
+
- 3
|
| 274 |
+
names:
|
| 275 |
+
- height
|
| 276 |
+
- width
|
| 277 |
+
- channels
|
| 278 |
+
info:
|
| 279 |
+
video.fps: 30
|
| 280 |
+
video.height: 480
|
| 281 |
+
video.width: 640
|
| 282 |
+
video.channels: 3
|
| 283 |
+
video.codec: libx264
|
| 284 |
+
video.pix_fmt: yuv420p
|
| 285 |
+
video.is_depth_map: false
|
| 286 |
+
has_audio: false
|
| 287 |
+
observation.images.cam_right_wrist_rgb:
|
| 288 |
+
dtype: video
|
| 289 |
+
shape:
|
| 290 |
+
- 480
|
| 291 |
+
- 640
|
| 292 |
+
- 3
|
| 293 |
+
names:
|
| 294 |
+
- height
|
| 295 |
+
- width
|
| 296 |
+
- channels
|
| 297 |
+
info:
|
| 298 |
+
video.fps: 30
|
| 299 |
+
video.height: 480
|
| 300 |
+
video.width: 640
|
| 301 |
+
video.channels: 3
|
| 302 |
+
video.codec: libx264
|
| 303 |
+
video.pix_fmt: yuv420p
|
| 304 |
+
video.is_depth_map: false
|
| 305 |
+
has_audio: false
|
| 306 |
+
observation.images.cam_left_wrist_rgb:
|
| 307 |
+
dtype: video
|
| 308 |
+
shape:
|
| 309 |
+
- 480
|
| 310 |
+
- 640
|
| 311 |
+
- 3
|
| 312 |
+
names:
|
| 313 |
+
- height
|
| 314 |
+
- width
|
| 315 |
+
- channels
|
| 316 |
+
info:
|
| 317 |
+
video.fps: 30
|
| 318 |
+
video.height: 480
|
| 319 |
+
video.width: 640
|
| 320 |
+
video.channels: 3
|
| 321 |
+
video.codec: libx264
|
| 322 |
+
video.pix_fmt: yuv420p
|
| 323 |
+
video.is_depth_map: false
|
| 324 |
+
has_audio: false
|
| 325 |
+
timestamp:
|
| 326 |
+
dtype: float32
|
| 327 |
+
shape:
|
| 328 |
+
- 1
|
| 329 |
+
names: null
|
| 330 |
+
frame_index:
|
| 331 |
+
dtype: int64
|
| 332 |
+
shape:
|
| 333 |
+
- 1
|
| 334 |
+
names: null
|
| 335 |
+
episode_index:
|
| 336 |
+
dtype: int64
|
| 337 |
+
shape:
|
| 338 |
+
- 1
|
| 339 |
+
names: null
|
| 340 |
+
index:
|
| 341 |
+
dtype: int64
|
| 342 |
+
shape:
|
| 343 |
+
- 1
|
| 344 |
+
names: null
|
| 345 |
+
task_index:
|
| 346 |
+
dtype: int64
|
| 347 |
+
shape:
|
| 348 |
+
- 1
|
| 349 |
+
names: null
|
| 350 |
+
gripper_open_scale_state:
|
| 351 |
+
names:
|
| 352 |
+
- left_gripper_open_scale
|
| 353 |
+
- right_gripper_open_scale
|
| 354 |
+
dtype: float64
|
| 355 |
+
shape:
|
| 356 |
+
- 2
|
| 357 |
+
gripper_open_scale_action:
|
| 358 |
+
names:
|
| 359 |
+
- left_gripper_open_scale
|
| 360 |
+
- right_gripper_open_scale
|
| 361 |
+
dtype: float64
|
| 362 |
+
shape:
|
| 363 |
+
- 2
|
| 364 |
+
eef_sim_pose_state:
|
| 365 |
+
names:
|
| 366 |
+
- left_eef_pos_x
|
| 367 |
+
- left_eef_pos_y
|
| 368 |
+
- left_eef_pos_z
|
| 369 |
+
- left_eef_rot_x
|
| 370 |
+
- left_eef_rot_y
|
| 371 |
+
- left_eef_rot_z
|
| 372 |
+
- right_eef_pos_x
|
| 373 |
+
- right_eef_pos_y
|
| 374 |
+
- right_eef_pos_z
|
| 375 |
+
- right_eef_rot_x
|
| 376 |
+
- right_eef_rot_y
|
| 377 |
+
- right_eef_rot_z
|
| 378 |
+
dtype: float32
|
| 379 |
+
shape:
|
| 380 |
+
- 12
|
| 381 |
+
eef_sim_pose_action:
|
| 382 |
+
names:
|
| 383 |
+
- left_eef_pos_x
|
| 384 |
+
- left_eef_pos_y
|
| 385 |
+
- left_eef_pos_z
|
| 386 |
+
- left_eef_rot_x
|
| 387 |
+
- left_eef_rot_y
|
| 388 |
+
- left_eef_rot_z
|
| 389 |
+
- right_eef_pos_x
|
| 390 |
+
- right_eef_pos_y
|
| 391 |
+
- right_eef_pos_z
|
| 392 |
+
- right_eef_rot_x
|
| 393 |
+
- right_eef_rot_y
|
| 394 |
+
- right_eef_rot_z
|
| 395 |
+
dtype: float32
|
| 396 |
+
shape:
|
| 397 |
+
- 12
|
| 398 |
+
eef_direction_state:
|
| 399 |
+
names:
|
| 400 |
+
- left_eef_direction
|
| 401 |
+
- right_eef_direction
|
| 402 |
+
dtype: int32
|
| 403 |
+
shape:
|
| 404 |
+
- 2
|
| 405 |
+
eef_direction_action:
|
| 406 |
+
names:
|
| 407 |
+
- left_eef_direction
|
| 408 |
+
- right_eef_direction
|
| 409 |
+
dtype: int32
|
| 410 |
+
shape:
|
| 411 |
+
- 2
|
| 412 |
+
eef_velocity_state:
|
| 413 |
+
names:
|
| 414 |
+
- left_eef_velocity
|
| 415 |
+
- right_eef_velocity
|
| 416 |
+
dtype: int32
|
| 417 |
+
shape:
|
| 418 |
+
- 2
|
| 419 |
+
eef_velocity_action:
|
| 420 |
+
names:
|
| 421 |
+
- left_eef_velocity
|
| 422 |
+
- right_eef_velocity
|
| 423 |
+
dtype: int32
|
| 424 |
+
shape:
|
| 425 |
+
- 2
|
| 426 |
+
eef_acc_mag_state:
|
| 427 |
+
names:
|
| 428 |
+
- left_eef_acc_mag
|
| 429 |
+
- right_eef_acc_mag
|
| 430 |
+
dtype: int32
|
| 431 |
+
shape:
|
| 432 |
+
- 2
|
| 433 |
+
eef_acc_mag_action:
|
| 434 |
+
names:
|
| 435 |
+
- left_eef_acc_mag
|
| 436 |
+
- right_eef_acc_mag
|
| 437 |
+
dtype: int32
|
| 438 |
+
shape:
|
| 439 |
+
- 2
|
| 440 |
+
gripper_mode_state:
|
| 441 |
+
names:
|
| 442 |
+
- left_gripper_mode
|
| 443 |
+
- right_gripper_mode
|
| 444 |
+
dtype: int32
|
| 445 |
+
shape:
|
| 446 |
+
- 2
|
| 447 |
+
gripper_mode_action:
|
| 448 |
+
names:
|
| 449 |
+
- left_gripper_mode
|
| 450 |
+
- right_gripper_mode
|
| 451 |
+
dtype: int32
|
| 452 |
+
shape:
|
| 453 |
+
- 2
|
| 454 |
+
gripper_activity_state:
|
| 455 |
+
names:
|
| 456 |
+
- left_gripper_activity
|
| 457 |
+
- right_gripper_activity
|
| 458 |
+
dtype: int32
|
| 459 |
+
shape:
|
| 460 |
+
- 2
|
| 461 |
+
gripper_activity_action:
|
| 462 |
+
names:
|
| 463 |
+
- left_gripper_activity
|
| 464 |
+
- right_gripper_activity
|
| 465 |
+
dtype: int32
|
| 466 |
+
shape:
|
| 467 |
+
- 2
|
| 468 |
+
authors:
|
| 469 |
+
contributed_by:
|
| 470 |
+
- name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
|
| 471 |
+
dataset_description: This dataset uses an extended format based on LeRobot and is
|
| 472 |
+
fully compatible with LeRobot.
|
| 473 |
+
homepage: https://flagopen.github.io/RoboCOIN/
|
| 474 |
+
paper: https://arxiv.org/abs/2511.17441
|
| 475 |
+
repository: https://github.com/FlagOpen/RoboCOIN
|
| 476 |
+
contact_info: For questions, issues, or feedback regarding this dataset, please contact
|
| 477 |
+
us.
|
| 478 |
+
support_info: For technical support, please open an issue on our GitHub repository.
|
| 479 |
+
license_details: apache-2.0
|
| 480 |
+
citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\
|
| 481 |
+
\ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\
|
| 482 |
+
\ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
|
| 483 |
+
\ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
|
| 484 |
+
\ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
|
| 485 |
+
\ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
|
| 486 |
+
\ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
|
| 487 |
+
\ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
|
| 488 |
+
\ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
|
| 489 |
+
\ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
|
| 490 |
+
\ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
|
| 491 |
+
\ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
|
| 492 |
+
\ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
|
| 493 |
+
\ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
|
| 494 |
+
\ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\
|
| 495 |
+
\ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n"
|
| 496 |
+
additional_citations: 'If you use this dataset, please also consider citing:
|
| 497 |
+
|
| 498 |
+
LeRobot Framework: https://github.com/huggingface/lerobot
|
| 499 |
+
|
| 500 |
+
'
|
| 501 |
+
version_info: Initial Release
|
| 502 |
+
data_path: data/chunk-{id}/episode_{id}.parquet
|
| 503 |
+
video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
|
| 504 |
+
video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4
|
dataset_info/Galbot_G1_discard_towel_1.yaml
ADDED
|
@@ -0,0 +1,507 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
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|
|
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|
|
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|
|
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|
|
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|
|
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|
|
|
|
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|
|
|
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|
|
|
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|
|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
| 1 |
+
task_categories:
|
| 2 |
+
- robotics
|
| 3 |
+
language:
|
| 4 |
+
- en
|
| 5 |
+
tags:
|
| 6 |
+
- RoboCOIN
|
| 7 |
+
- LeRobot
|
| 8 |
+
license: apache-2.0
|
| 9 |
+
configs:
|
| 10 |
+
- config_name: default
|
| 11 |
+
data_files: data/chunk-{id}/episode_{id}.parquet
|
| 12 |
+
extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
|
| 13 |
+
in your research/publications—see the "Citation" section for details. You agree
|
| 14 |
+
to not use the dataset to conduct experiments that cause harm to human subjects.
|
| 15 |
+
extra_gated_fields:
|
| 16 |
+
Company/Organization:
|
| 17 |
+
type: text
|
| 18 |
+
description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
|
| 19 |
+
Country:
|
| 20 |
+
type: country
|
| 21 |
+
description: e.g., "Germany", "China", "United States"
|
| 22 |
+
codebase_version: v2.1
|
| 23 |
+
dataset_name: Galbot_G1_discard_towel_1
|
| 24 |
+
dataset_uuid: 0332a3e7-1952-4bea-a691-e52e991bbb1a
|
| 25 |
+
scene_type:
|
| 26 |
+
level1: Household
|
| 27 |
+
level2: Bathroom
|
| 28 |
+
level3: null
|
| 29 |
+
level4: null
|
| 30 |
+
level5: null
|
| 31 |
+
env_type: real_world
|
| 32 |
+
objects:
|
| 33 |
+
- id: '1'
|
| 34 |
+
name: towel
|
| 35 |
+
color: white
|
| 36 |
+
anchor_policy: static
|
| 37 |
+
- id: '2'
|
| 38 |
+
name: towel
|
| 39 |
+
color: white
|
| 40 |
+
anchor_policy: static
|
| 41 |
+
- id: '3'
|
| 42 |
+
name: towel
|
| 43 |
+
color: white
|
| 44 |
+
anchor_policy: static
|
| 45 |
+
- id: hamper
|
| 46 |
+
name: hamper
|
| 47 |
+
color: black
|
| 48 |
+
anchor_policy: static
|
| 49 |
+
- id: washbasin
|
| 50 |
+
name: washbasin
|
| 51 |
+
color: brown
|
| 52 |
+
anchor_policy: static
|
| 53 |
+
- id: floor
|
| 54 |
+
name: floor
|
| 55 |
+
color: brown
|
| 56 |
+
anchor_policy: static
|
| 57 |
+
task_operation_type: mobile_dual_arm
|
| 58 |
+
task_instruction: Discard the used towel into the hamper.
|
| 59 |
+
sub_tasks:
|
| 60 |
+
- Discard the used towel into the hamper.
|
| 61 |
+
atomic_actions:
|
| 62 |
+
- move
|
| 63 |
+
- grasp
|
| 64 |
+
- place
|
| 65 |
+
robot_name: Galbot_G1
|
| 66 |
+
end_effector_type: two_finger_end_effector
|
| 67 |
+
tele_type: master_arm
|
| 68 |
+
sensor_list:
|
| 69 |
+
- cam_right_head_rgb
|
| 70 |
+
- cam_left_head_rgb
|
| 71 |
+
- cam_right_wrist_rgb
|
| 72 |
+
- cam_left_wrist_rgb
|
| 73 |
+
came_info:
|
| 74 |
+
cam_right_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 75 |
+
pix_fmt=yuv420p
|
| 76 |
+
cam_left_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 77 |
+
pix_fmt=yuv420p
|
| 78 |
+
cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 79 |
+
pix_fmt=yuv420p
|
| 80 |
+
cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 81 |
+
pix_fmt=yuv420p
|
| 82 |
+
depth_enabled: false
|
| 83 |
+
coordinate_definition: right-hand-frame
|
| 84 |
+
joint_rotation_dim: radian
|
| 85 |
+
end_rotation_dim: radian
|
| 86 |
+
end_translation_dim: meter
|
| 87 |
+
annotations:
|
| 88 |
+
- eef_acc_mag_annotation.jsonl
|
| 89 |
+
- eef_direction_annotation.jsonl
|
| 90 |
+
- eef_velocity_annotation.jsonl
|
| 91 |
+
- gripper_activity_annotation.jsonl
|
| 92 |
+
- gripper_mode_annotation.jsonl
|
| 93 |
+
statistics:
|
| 94 |
+
total_episodes: 200
|
| 95 |
+
total_frames: 794078
|
| 96 |
+
fps: 30
|
| 97 |
+
total_tasks: 1
|
| 98 |
+
total_videos: 800
|
| 99 |
+
total_chunks: 1
|
| 100 |
+
chunks_size: 10000
|
| 101 |
+
state_dim: 31
|
| 102 |
+
action_dim: 31
|
| 103 |
+
camera_views: 4
|
| 104 |
+
dataset_size: 33.24 GB
|
| 105 |
+
frame_num: 794078
|
| 106 |
+
frame_range: 1M
|
| 107 |
+
dataset_size: 33.24 GB
|
| 108 |
+
data_structure: 'Galbot_G1_discard_towel_1_qced_hardlink/
|
| 109 |
+
|
| 110 |
+
|-- annotations
|
| 111 |
+
|
| 112 |
+
| |-- eef_acc_mag_annotation.jsonl
|
| 113 |
+
|
| 114 |
+
| |-- eef_direction_annotation.jsonl
|
| 115 |
+
|
| 116 |
+
| |-- eef_velocity_annotation.jsonl
|
| 117 |
+
|
| 118 |
+
| |-- gripper_activity_annotation.jsonl
|
| 119 |
+
|
| 120 |
+
| `-- gripper_mode_annotation.jsonl
|
| 121 |
+
|
| 122 |
+
|-- data
|
| 123 |
+
|
| 124 |
+
| `-- chunk-000
|
| 125 |
+
|
| 126 |
+
| |-- episode_000000.parquet
|
| 127 |
+
|
| 128 |
+
| |-- episode_000001.parquet
|
| 129 |
+
|
| 130 |
+
| |-- episode_000002.parquet
|
| 131 |
+
|
| 132 |
+
| |-- episode_000003.parquet
|
| 133 |
+
|
| 134 |
+
| |-- episode_000004.parquet
|
| 135 |
+
|
| 136 |
+
| |-- episode_000005.parquet
|
| 137 |
+
|
| 138 |
+
| |-- episode_000006.parquet
|
| 139 |
+
|
| 140 |
+
| |-- episode_000007.parquet
|
| 141 |
+
|
| 142 |
+
| |-- episode_000008.parquet
|
| 143 |
+
|
| 144 |
+
| |-- episode_000009.parquet
|
| 145 |
+
|
| 146 |
+
| |-- episode_000010.parquet
|
| 147 |
+
|
| 148 |
+
| `-- episode_000011.parquet
|
| 149 |
+
|
| 150 |
+
| `-- ... (188 more entries)
|
| 151 |
+
|
| 152 |
+
|-- meta
|
| 153 |
+
|
| 154 |
+
| |-- episodes.jsonl
|
| 155 |
+
|
| 156 |
+
| |-- episodes_stats.jsonl
|
| 157 |
+
|
| 158 |
+
| |-- info.json
|
| 159 |
+
|
| 160 |
+
| `-- tasks.jsonl
|
| 161 |
+
|
| 162 |
+
|-- videos
|
| 163 |
+
|
| 164 |
+
| `-- chunk-000
|
| 165 |
+
|
| 166 |
+
| |-- observation.images.cam_left_head_rgb
|
| 167 |
+
|
| 168 |
+
| |-- observation.images.cam_left_wrist_rgb
|
| 169 |
+
|
| 170 |
+
| |-- observation.images.cam_right_head_rgb
|
| 171 |
+
|
| 172 |
+
| `-- observation.images.cam_right_wrist_rgb
|
| 173 |
+
|
| 174 |
+
|-- info.yaml
|
| 175 |
+
|
| 176 |
+
`-- README.md'
|
| 177 |
+
splits:
|
| 178 |
+
train: 0:199
|
| 179 |
+
features:
|
| 180 |
+
action:
|
| 181 |
+
dtype: float32
|
| 182 |
+
names:
|
| 183 |
+
- right_arm_joint_1_rad
|
| 184 |
+
- right_arm_joint_2_rad
|
| 185 |
+
- right_arm_joint_3_rad
|
| 186 |
+
- right_arm_joint_4_rad
|
| 187 |
+
- right_arm_joint_5_rad
|
| 188 |
+
- right_arm_joint_6_rad
|
| 189 |
+
- right_arm_joint_7_rad
|
| 190 |
+
- right_gripper_open
|
| 191 |
+
- left_arm_joint_1_rad
|
| 192 |
+
- left_arm_joint_2_rad
|
| 193 |
+
- left_arm_joint_3_rad
|
| 194 |
+
- left_arm_joint_4_rad
|
| 195 |
+
- left_arm_joint_5_rad
|
| 196 |
+
- left_arm_joint_6_rad
|
| 197 |
+
- left_arm_joint_7_rad
|
| 198 |
+
- left_gripper_open
|
| 199 |
+
- torso_joint_1_rad
|
| 200 |
+
- torso_joint_2_rad
|
| 201 |
+
- torso_joint_3_rad
|
| 202 |
+
- torso_joint_4_rad
|
| 203 |
+
- torso_joint_5_rad
|
| 204 |
+
- head_joint_1_rad
|
| 205 |
+
- head_joint_2_rad
|
| 206 |
+
- chassis_pos_1
|
| 207 |
+
- chassis_pos_2
|
| 208 |
+
- chassis_pos_3
|
| 209 |
+
- chassis_pos_4
|
| 210 |
+
- chassis_vel_1
|
| 211 |
+
- chassis_vel_2
|
| 212 |
+
- chassis_vel_3
|
| 213 |
+
- chassis_vel_4
|
| 214 |
+
shape:
|
| 215 |
+
- 31
|
| 216 |
+
observation.state:
|
| 217 |
+
dtype: float32
|
| 218 |
+
names:
|
| 219 |
+
- right_arm_joint_1_rad
|
| 220 |
+
- right_arm_joint_2_rad
|
| 221 |
+
- right_arm_joint_3_rad
|
| 222 |
+
- right_arm_joint_4_rad
|
| 223 |
+
- right_arm_joint_5_rad
|
| 224 |
+
- right_arm_joint_6_rad
|
| 225 |
+
- right_arm_joint_7_rad
|
| 226 |
+
- right_gripper_open
|
| 227 |
+
- left_arm_joint_1_rad
|
| 228 |
+
- left_arm_joint_2_rad
|
| 229 |
+
- left_arm_joint_3_rad
|
| 230 |
+
- left_arm_joint_4_rad
|
| 231 |
+
- left_arm_joint_5_rad
|
| 232 |
+
- left_arm_joint_6_rad
|
| 233 |
+
- left_arm_joint_7_rad
|
| 234 |
+
- left_gripper_open
|
| 235 |
+
- torso_joint_1_rad
|
| 236 |
+
- torso_joint_2_rad
|
| 237 |
+
- torso_joint_3_rad
|
| 238 |
+
- torso_joint_4_rad
|
| 239 |
+
- torso_joint_5_rad
|
| 240 |
+
- head_joint_1_rad
|
| 241 |
+
- head_joint_2_rad
|
| 242 |
+
- chassis_pos_1
|
| 243 |
+
- chassis_pos_2
|
| 244 |
+
- chassis_pos_3
|
| 245 |
+
- chassis_pos_4
|
| 246 |
+
- chassis_vel_1
|
| 247 |
+
- chassis_vel_2
|
| 248 |
+
- chassis_vel_3
|
| 249 |
+
- chassis_vel_4
|
| 250 |
+
shape:
|
| 251 |
+
- 31
|
| 252 |
+
observation.images.cam_right_head_rgb:
|
| 253 |
+
dtype: video
|
| 254 |
+
shape:
|
| 255 |
+
- 480
|
| 256 |
+
- 640
|
| 257 |
+
- 3
|
| 258 |
+
names:
|
| 259 |
+
- height
|
| 260 |
+
- width
|
| 261 |
+
- channels
|
| 262 |
+
info:
|
| 263 |
+
video.fps: 30
|
| 264 |
+
video.height: 480
|
| 265 |
+
video.width: 640
|
| 266 |
+
video.channels: 3
|
| 267 |
+
video.codec: libx264
|
| 268 |
+
video.pix_fmt: yuv420p
|
| 269 |
+
video.is_depth_map: false
|
| 270 |
+
has_audio: false
|
| 271 |
+
observation.images.cam_left_head_rgb:
|
| 272 |
+
dtype: video
|
| 273 |
+
shape:
|
| 274 |
+
- 480
|
| 275 |
+
- 640
|
| 276 |
+
- 3
|
| 277 |
+
names:
|
| 278 |
+
- height
|
| 279 |
+
- width
|
| 280 |
+
- channels
|
| 281 |
+
info:
|
| 282 |
+
video.fps: 30
|
| 283 |
+
video.height: 480
|
| 284 |
+
video.width: 640
|
| 285 |
+
video.channels: 3
|
| 286 |
+
video.codec: libx264
|
| 287 |
+
video.pix_fmt: yuv420p
|
| 288 |
+
video.is_depth_map: false
|
| 289 |
+
has_audio: false
|
| 290 |
+
observation.images.cam_right_wrist_rgb:
|
| 291 |
+
dtype: video
|
| 292 |
+
shape:
|
| 293 |
+
- 480
|
| 294 |
+
- 640
|
| 295 |
+
- 3
|
| 296 |
+
names:
|
| 297 |
+
- height
|
| 298 |
+
- width
|
| 299 |
+
- channels
|
| 300 |
+
info:
|
| 301 |
+
video.fps: 30
|
| 302 |
+
video.height: 480
|
| 303 |
+
video.width: 640
|
| 304 |
+
video.channels: 3
|
| 305 |
+
video.codec: libx264
|
| 306 |
+
video.pix_fmt: yuv420p
|
| 307 |
+
video.is_depth_map: false
|
| 308 |
+
has_audio: false
|
| 309 |
+
observation.images.cam_left_wrist_rgb:
|
| 310 |
+
dtype: video
|
| 311 |
+
shape:
|
| 312 |
+
- 480
|
| 313 |
+
- 640
|
| 314 |
+
- 3
|
| 315 |
+
names:
|
| 316 |
+
- height
|
| 317 |
+
- width
|
| 318 |
+
- channels
|
| 319 |
+
info:
|
| 320 |
+
video.fps: 30
|
| 321 |
+
video.height: 480
|
| 322 |
+
video.width: 640
|
| 323 |
+
video.channels: 3
|
| 324 |
+
video.codec: libx264
|
| 325 |
+
video.pix_fmt: yuv420p
|
| 326 |
+
video.is_depth_map: false
|
| 327 |
+
has_audio: false
|
| 328 |
+
timestamp:
|
| 329 |
+
dtype: float32
|
| 330 |
+
shape:
|
| 331 |
+
- 1
|
| 332 |
+
names: null
|
| 333 |
+
frame_index:
|
| 334 |
+
dtype: int64
|
| 335 |
+
shape:
|
| 336 |
+
- 1
|
| 337 |
+
names: null
|
| 338 |
+
episode_index:
|
| 339 |
+
dtype: int64
|
| 340 |
+
shape:
|
| 341 |
+
- 1
|
| 342 |
+
names: null
|
| 343 |
+
index:
|
| 344 |
+
dtype: int64
|
| 345 |
+
shape:
|
| 346 |
+
- 1
|
| 347 |
+
names: null
|
| 348 |
+
task_index:
|
| 349 |
+
dtype: int64
|
| 350 |
+
shape:
|
| 351 |
+
- 1
|
| 352 |
+
names: null
|
| 353 |
+
gripper_open_scale_state:
|
| 354 |
+
names:
|
| 355 |
+
- left_gripper_open_scale
|
| 356 |
+
- right_gripper_open_scale
|
| 357 |
+
dtype: float64
|
| 358 |
+
shape:
|
| 359 |
+
- 2
|
| 360 |
+
gripper_open_scale_action:
|
| 361 |
+
names:
|
| 362 |
+
- left_gripper_open_scale
|
| 363 |
+
- right_gripper_open_scale
|
| 364 |
+
dtype: float64
|
| 365 |
+
shape:
|
| 366 |
+
- 2
|
| 367 |
+
eef_sim_pose_state:
|
| 368 |
+
names:
|
| 369 |
+
- left_eef_pos_x
|
| 370 |
+
- left_eef_pos_y
|
| 371 |
+
- left_eef_pos_z
|
| 372 |
+
- left_eef_rot_x
|
| 373 |
+
- left_eef_rot_y
|
| 374 |
+
- left_eef_rot_z
|
| 375 |
+
- right_eef_pos_x
|
| 376 |
+
- right_eef_pos_y
|
| 377 |
+
- right_eef_pos_z
|
| 378 |
+
- right_eef_rot_x
|
| 379 |
+
- right_eef_rot_y
|
| 380 |
+
- right_eef_rot_z
|
| 381 |
+
dtype: float32
|
| 382 |
+
shape:
|
| 383 |
+
- 12
|
| 384 |
+
eef_sim_pose_action:
|
| 385 |
+
names:
|
| 386 |
+
- left_eef_pos_x
|
| 387 |
+
- left_eef_pos_y
|
| 388 |
+
- left_eef_pos_z
|
| 389 |
+
- left_eef_rot_x
|
| 390 |
+
- left_eef_rot_y
|
| 391 |
+
- left_eef_rot_z
|
| 392 |
+
- right_eef_pos_x
|
| 393 |
+
- right_eef_pos_y
|
| 394 |
+
- right_eef_pos_z
|
| 395 |
+
- right_eef_rot_x
|
| 396 |
+
- right_eef_rot_y
|
| 397 |
+
- right_eef_rot_z
|
| 398 |
+
dtype: float32
|
| 399 |
+
shape:
|
| 400 |
+
- 12
|
| 401 |
+
eef_direction_state:
|
| 402 |
+
names:
|
| 403 |
+
- left_eef_direction
|
| 404 |
+
- right_eef_direction
|
| 405 |
+
dtype: int32
|
| 406 |
+
shape:
|
| 407 |
+
- 2
|
| 408 |
+
eef_direction_action:
|
| 409 |
+
names:
|
| 410 |
+
- left_eef_direction
|
| 411 |
+
- right_eef_direction
|
| 412 |
+
dtype: int32
|
| 413 |
+
shape:
|
| 414 |
+
- 2
|
| 415 |
+
eef_velocity_state:
|
| 416 |
+
names:
|
| 417 |
+
- left_eef_velocity
|
| 418 |
+
- right_eef_velocity
|
| 419 |
+
dtype: int32
|
| 420 |
+
shape:
|
| 421 |
+
- 2
|
| 422 |
+
eef_velocity_action:
|
| 423 |
+
names:
|
| 424 |
+
- left_eef_velocity
|
| 425 |
+
- right_eef_velocity
|
| 426 |
+
dtype: int32
|
| 427 |
+
shape:
|
| 428 |
+
- 2
|
| 429 |
+
eef_acc_mag_state:
|
| 430 |
+
names:
|
| 431 |
+
- left_eef_acc_mag
|
| 432 |
+
- right_eef_acc_mag
|
| 433 |
+
dtype: int32
|
| 434 |
+
shape:
|
| 435 |
+
- 2
|
| 436 |
+
eef_acc_mag_action:
|
| 437 |
+
names:
|
| 438 |
+
- left_eef_acc_mag
|
| 439 |
+
- right_eef_acc_mag
|
| 440 |
+
dtype: int32
|
| 441 |
+
shape:
|
| 442 |
+
- 2
|
| 443 |
+
gripper_mode_state:
|
| 444 |
+
names:
|
| 445 |
+
- left_gripper_mode
|
| 446 |
+
- right_gripper_mode
|
| 447 |
+
dtype: int32
|
| 448 |
+
shape:
|
| 449 |
+
- 2
|
| 450 |
+
gripper_mode_action:
|
| 451 |
+
names:
|
| 452 |
+
- left_gripper_mode
|
| 453 |
+
- right_gripper_mode
|
| 454 |
+
dtype: int32
|
| 455 |
+
shape:
|
| 456 |
+
- 2
|
| 457 |
+
gripper_activity_state:
|
| 458 |
+
names:
|
| 459 |
+
- left_gripper_activity
|
| 460 |
+
- right_gripper_activity
|
| 461 |
+
dtype: int32
|
| 462 |
+
shape:
|
| 463 |
+
- 2
|
| 464 |
+
gripper_activity_action:
|
| 465 |
+
names:
|
| 466 |
+
- left_gripper_activity
|
| 467 |
+
- right_gripper_activity
|
| 468 |
+
dtype: int32
|
| 469 |
+
shape:
|
| 470 |
+
- 2
|
| 471 |
+
authors:
|
| 472 |
+
contributed_by:
|
| 473 |
+
- name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
|
| 474 |
+
dataset_description: This dataset uses an extended format based on LeRobot and is
|
| 475 |
+
fully compatible with LeRobot.
|
| 476 |
+
homepage: https://flagopen.github.io/RoboCOIN/
|
| 477 |
+
paper: https://arxiv.org/abs/2511.17441
|
| 478 |
+
repository: https://github.com/FlagOpen/RoboCOIN
|
| 479 |
+
contact_info: For questions, issues, or feedback regarding this dataset, please contact
|
| 480 |
+
us.
|
| 481 |
+
support_info: For technical support, please open an issue on our GitHub repository.
|
| 482 |
+
license_details: apache-2.0
|
| 483 |
+
citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\
|
| 484 |
+
\ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\
|
| 485 |
+
\ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
|
| 486 |
+
\ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
|
| 487 |
+
\ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
|
| 488 |
+
\ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
|
| 489 |
+
\ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
|
| 490 |
+
\ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
|
| 491 |
+
\ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
|
| 492 |
+
\ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
|
| 493 |
+
\ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
|
| 494 |
+
\ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
|
| 495 |
+
\ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
|
| 496 |
+
\ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
|
| 497 |
+
\ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\
|
| 498 |
+
\ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n"
|
| 499 |
+
additional_citations: 'If you use this dataset, please also consider citing:
|
| 500 |
+
|
| 501 |
+
LeRobot Framework: https://github.com/huggingface/lerobot
|
| 502 |
+
|
| 503 |
+
'
|
| 504 |
+
version_info: Initial Release
|
| 505 |
+
data_path: data/chunk-{id}/episode_{id}.parquet
|
| 506 |
+
video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
|
| 507 |
+
video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4
|
dataset_info/Galbot_G1_fold_clothes_3.yaml
ADDED
|
@@ -0,0 +1,491 @@
|
|
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|
|
| 1 |
+
task_categories:
|
| 2 |
+
- robotics
|
| 3 |
+
language:
|
| 4 |
+
- en
|
| 5 |
+
tags:
|
| 6 |
+
- RoboCOIN
|
| 7 |
+
- LeRobot
|
| 8 |
+
license: apache-2.0
|
| 9 |
+
configs:
|
| 10 |
+
- config_name: default
|
| 11 |
+
data_files: data/chunk-{id}/episode_{id}.parquet
|
| 12 |
+
extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
|
| 13 |
+
in your research/publications—see the "Citation" section for details. You agree
|
| 14 |
+
to not use the dataset to conduct experiments that cause harm to human subjects.
|
| 15 |
+
extra_gated_fields:
|
| 16 |
+
Company/Organization:
|
| 17 |
+
type: text
|
| 18 |
+
description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
|
| 19 |
+
Country:
|
| 20 |
+
type: country
|
| 21 |
+
description: e.g., "Germany", "China", "United States"
|
| 22 |
+
codebase_version: v2.1
|
| 23 |
+
dataset_name: Galbot_G1_fold_clothes_3
|
| 24 |
+
dataset_uuid: 99ca6920-4b22-4969-8973-08bd67b7437c
|
| 25 |
+
scene_type:
|
| 26 |
+
level1: Household
|
| 27 |
+
level2: Bedroom
|
| 28 |
+
level3: null
|
| 29 |
+
level4: null
|
| 30 |
+
level5: null
|
| 31 |
+
env_type: real_world
|
| 32 |
+
objects:
|
| 33 |
+
- id: clothes
|
| 34 |
+
name: clothes
|
| 35 |
+
color: black
|
| 36 |
+
anchor_policy: static
|
| 37 |
+
- id: bed
|
| 38 |
+
name: bed
|
| 39 |
+
color: white
|
| 40 |
+
anchor_policy: static
|
| 41 |
+
task_operation_type: mobile_dual_arm
|
| 42 |
+
task_instruction: Fold the clothes on the bed.
|
| 43 |
+
sub_tasks:
|
| 44 |
+
- Fold the clothes on the bed.
|
| 45 |
+
atomic_actions:
|
| 46 |
+
- grasp
|
| 47 |
+
- fold
|
| 48 |
+
- move
|
| 49 |
+
robot_name: Galbot_G1
|
| 50 |
+
end_effector_type: two_finger_end_effector
|
| 51 |
+
tele_type: master_arm
|
| 52 |
+
sensor_list:
|
| 53 |
+
- cam_right_head_rgb
|
| 54 |
+
- cam_left_head_rgb
|
| 55 |
+
- cam_right_wrist_rgb
|
| 56 |
+
- cam_left_wrist_rgb
|
| 57 |
+
came_info:
|
| 58 |
+
cam_right_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 59 |
+
pix_fmt=yuv420p
|
| 60 |
+
cam_left_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 61 |
+
pix_fmt=yuv420p
|
| 62 |
+
cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 63 |
+
pix_fmt=yuv420p
|
| 64 |
+
cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 65 |
+
pix_fmt=yuv420p
|
| 66 |
+
depth_enabled: false
|
| 67 |
+
coordinate_definition: right-hand-frame
|
| 68 |
+
joint_rotation_dim: radian
|
| 69 |
+
end_rotation_dim: radian
|
| 70 |
+
end_translation_dim: meter
|
| 71 |
+
annotations:
|
| 72 |
+
- eef_acc_mag_annotation.jsonl
|
| 73 |
+
- eef_direction_annotation.jsonl
|
| 74 |
+
- eef_velocity_annotation.jsonl
|
| 75 |
+
- gripper_activity_annotation.jsonl
|
| 76 |
+
- gripper_mode_annotation.jsonl
|
| 77 |
+
statistics:
|
| 78 |
+
total_episodes: 197
|
| 79 |
+
total_frames: 629790
|
| 80 |
+
fps: 30
|
| 81 |
+
total_tasks: 1
|
| 82 |
+
total_videos: 788
|
| 83 |
+
total_chunks: 1
|
| 84 |
+
chunks_size: 10000
|
| 85 |
+
state_dim: 31
|
| 86 |
+
action_dim: 31
|
| 87 |
+
camera_views: 4
|
| 88 |
+
dataset_size: 26.03 GB
|
| 89 |
+
frame_num: 629790
|
| 90 |
+
frame_range: 1M
|
| 91 |
+
dataset_size: 26.03 GB
|
| 92 |
+
data_structure: 'Galbot_G1_fold_clothes_3_qced_hardlink/
|
| 93 |
+
|
| 94 |
+
|-- annotations
|
| 95 |
+
|
| 96 |
+
| |-- eef_acc_mag_annotation.jsonl
|
| 97 |
+
|
| 98 |
+
| |-- eef_direction_annotation.jsonl
|
| 99 |
+
|
| 100 |
+
| |-- eef_velocity_annotation.jsonl
|
| 101 |
+
|
| 102 |
+
| |-- gripper_activity_annotation.jsonl
|
| 103 |
+
|
| 104 |
+
| `-- gripper_mode_annotation.jsonl
|
| 105 |
+
|
| 106 |
+
|-- data
|
| 107 |
+
|
| 108 |
+
| `-- chunk-000
|
| 109 |
+
|
| 110 |
+
| |-- episode_000000.parquet
|
| 111 |
+
|
| 112 |
+
| |-- episode_000001.parquet
|
| 113 |
+
|
| 114 |
+
| |-- episode_000002.parquet
|
| 115 |
+
|
| 116 |
+
| |-- episode_000003.parquet
|
| 117 |
+
|
| 118 |
+
| |-- episode_000004.parquet
|
| 119 |
+
|
| 120 |
+
| |-- episode_000005.parquet
|
| 121 |
+
|
| 122 |
+
| |-- episode_000006.parquet
|
| 123 |
+
|
| 124 |
+
| |-- episode_000007.parquet
|
| 125 |
+
|
| 126 |
+
| |-- episode_000008.parquet
|
| 127 |
+
|
| 128 |
+
| |-- episode_000009.parquet
|
| 129 |
+
|
| 130 |
+
| |-- episode_000010.parquet
|
| 131 |
+
|
| 132 |
+
| `-- episode_000011.parquet
|
| 133 |
+
|
| 134 |
+
| `-- ... (185 more entries)
|
| 135 |
+
|
| 136 |
+
|-- meta
|
| 137 |
+
|
| 138 |
+
| |-- episodes.jsonl
|
| 139 |
+
|
| 140 |
+
| |-- episodes_stats.jsonl
|
| 141 |
+
|
| 142 |
+
| |-- info.json
|
| 143 |
+
|
| 144 |
+
| `-- tasks.jsonl
|
| 145 |
+
|
| 146 |
+
|-- videos
|
| 147 |
+
|
| 148 |
+
| `-- chunk-000
|
| 149 |
+
|
| 150 |
+
| |-- observation.images.cam_left_head_rgb
|
| 151 |
+
|
| 152 |
+
| |-- observation.images.cam_left_wrist_rgb
|
| 153 |
+
|
| 154 |
+
| |-- observation.images.cam_right_head_rgb
|
| 155 |
+
|
| 156 |
+
| `-- observation.images.cam_right_wrist_rgb
|
| 157 |
+
|
| 158 |
+
|-- info.yaml
|
| 159 |
+
|
| 160 |
+
`-- README.md'
|
| 161 |
+
splits:
|
| 162 |
+
train: 0:196
|
| 163 |
+
features:
|
| 164 |
+
action:
|
| 165 |
+
dtype: float32
|
| 166 |
+
names:
|
| 167 |
+
- right_arm_joint_1_rad
|
| 168 |
+
- right_arm_joint_2_rad
|
| 169 |
+
- right_arm_joint_3_rad
|
| 170 |
+
- right_arm_joint_4_rad
|
| 171 |
+
- right_arm_joint_5_rad
|
| 172 |
+
- right_arm_joint_6_rad
|
| 173 |
+
- right_arm_joint_7_rad
|
| 174 |
+
- right_gripper_open
|
| 175 |
+
- left_arm_joint_1_rad
|
| 176 |
+
- left_arm_joint_2_rad
|
| 177 |
+
- left_arm_joint_3_rad
|
| 178 |
+
- left_arm_joint_4_rad
|
| 179 |
+
- left_arm_joint_5_rad
|
| 180 |
+
- left_arm_joint_6_rad
|
| 181 |
+
- left_arm_joint_7_rad
|
| 182 |
+
- left_gripper_open
|
| 183 |
+
- torso_joint_1_rad
|
| 184 |
+
- torso_joint_2_rad
|
| 185 |
+
- torso_joint_3_rad
|
| 186 |
+
- torso_joint_4_rad
|
| 187 |
+
- torso_joint_5_rad
|
| 188 |
+
- head_joint_1_rad
|
| 189 |
+
- head_joint_2_rad
|
| 190 |
+
- chassis_pos_1
|
| 191 |
+
- chassis_pos_2
|
| 192 |
+
- chassis_pos_3
|
| 193 |
+
- chassis_pos_4
|
| 194 |
+
- chassis_vel_1
|
| 195 |
+
- chassis_vel_2
|
| 196 |
+
- chassis_vel_3
|
| 197 |
+
- chassis_vel_4
|
| 198 |
+
shape:
|
| 199 |
+
- 31
|
| 200 |
+
observation.state:
|
| 201 |
+
dtype: float32
|
| 202 |
+
names:
|
| 203 |
+
- right_arm_joint_1_rad
|
| 204 |
+
- right_arm_joint_2_rad
|
| 205 |
+
- right_arm_joint_3_rad
|
| 206 |
+
- right_arm_joint_4_rad
|
| 207 |
+
- right_arm_joint_5_rad
|
| 208 |
+
- right_arm_joint_6_rad
|
| 209 |
+
- right_arm_joint_7_rad
|
| 210 |
+
- right_gripper_open
|
| 211 |
+
- left_arm_joint_1_rad
|
| 212 |
+
- left_arm_joint_2_rad
|
| 213 |
+
- left_arm_joint_3_rad
|
| 214 |
+
- left_arm_joint_4_rad
|
| 215 |
+
- left_arm_joint_5_rad
|
| 216 |
+
- left_arm_joint_6_rad
|
| 217 |
+
- left_arm_joint_7_rad
|
| 218 |
+
- left_gripper_open
|
| 219 |
+
- torso_joint_1_rad
|
| 220 |
+
- torso_joint_2_rad
|
| 221 |
+
- torso_joint_3_rad
|
| 222 |
+
- torso_joint_4_rad
|
| 223 |
+
- torso_joint_5_rad
|
| 224 |
+
- head_joint_1_rad
|
| 225 |
+
- head_joint_2_rad
|
| 226 |
+
- chassis_pos_1
|
| 227 |
+
- chassis_pos_2
|
| 228 |
+
- chassis_pos_3
|
| 229 |
+
- chassis_pos_4
|
| 230 |
+
- chassis_vel_1
|
| 231 |
+
- chassis_vel_2
|
| 232 |
+
- chassis_vel_3
|
| 233 |
+
- chassis_vel_4
|
| 234 |
+
shape:
|
| 235 |
+
- 31
|
| 236 |
+
observation.images.cam_right_head_rgb:
|
| 237 |
+
dtype: video
|
| 238 |
+
shape:
|
| 239 |
+
- 480
|
| 240 |
+
- 640
|
| 241 |
+
- 3
|
| 242 |
+
names:
|
| 243 |
+
- height
|
| 244 |
+
- width
|
| 245 |
+
- channels
|
| 246 |
+
info:
|
| 247 |
+
video.fps: 30
|
| 248 |
+
video.height: 480
|
| 249 |
+
video.width: 640
|
| 250 |
+
video.channels: 3
|
| 251 |
+
video.codec: libx264
|
| 252 |
+
video.pix_fmt: yuv420p
|
| 253 |
+
video.is_depth_map: false
|
| 254 |
+
has_audio: false
|
| 255 |
+
observation.images.cam_left_head_rgb:
|
| 256 |
+
dtype: video
|
| 257 |
+
shape:
|
| 258 |
+
- 480
|
| 259 |
+
- 640
|
| 260 |
+
- 3
|
| 261 |
+
names:
|
| 262 |
+
- height
|
| 263 |
+
- width
|
| 264 |
+
- channels
|
| 265 |
+
info:
|
| 266 |
+
video.fps: 30
|
| 267 |
+
video.height: 480
|
| 268 |
+
video.width: 640
|
| 269 |
+
video.channels: 3
|
| 270 |
+
video.codec: libx264
|
| 271 |
+
video.pix_fmt: yuv420p
|
| 272 |
+
video.is_depth_map: false
|
| 273 |
+
has_audio: false
|
| 274 |
+
observation.images.cam_right_wrist_rgb:
|
| 275 |
+
dtype: video
|
| 276 |
+
shape:
|
| 277 |
+
- 480
|
| 278 |
+
- 640
|
| 279 |
+
- 3
|
| 280 |
+
names:
|
| 281 |
+
- height
|
| 282 |
+
- width
|
| 283 |
+
- channels
|
| 284 |
+
info:
|
| 285 |
+
video.fps: 30
|
| 286 |
+
video.height: 480
|
| 287 |
+
video.width: 640
|
| 288 |
+
video.channels: 3
|
| 289 |
+
video.codec: libx264
|
| 290 |
+
video.pix_fmt: yuv420p
|
| 291 |
+
video.is_depth_map: false
|
| 292 |
+
has_audio: false
|
| 293 |
+
observation.images.cam_left_wrist_rgb:
|
| 294 |
+
dtype: video
|
| 295 |
+
shape:
|
| 296 |
+
- 480
|
| 297 |
+
- 640
|
| 298 |
+
- 3
|
| 299 |
+
names:
|
| 300 |
+
- height
|
| 301 |
+
- width
|
| 302 |
+
- channels
|
| 303 |
+
info:
|
| 304 |
+
video.fps: 30
|
| 305 |
+
video.height: 480
|
| 306 |
+
video.width: 640
|
| 307 |
+
video.channels: 3
|
| 308 |
+
video.codec: libx264
|
| 309 |
+
video.pix_fmt: yuv420p
|
| 310 |
+
video.is_depth_map: false
|
| 311 |
+
has_audio: false
|
| 312 |
+
timestamp:
|
| 313 |
+
dtype: float32
|
| 314 |
+
shape:
|
| 315 |
+
- 1
|
| 316 |
+
names: null
|
| 317 |
+
frame_index:
|
| 318 |
+
dtype: int64
|
| 319 |
+
shape:
|
| 320 |
+
- 1
|
| 321 |
+
names: null
|
| 322 |
+
episode_index:
|
| 323 |
+
dtype: int64
|
| 324 |
+
shape:
|
| 325 |
+
- 1
|
| 326 |
+
names: null
|
| 327 |
+
index:
|
| 328 |
+
dtype: int64
|
| 329 |
+
shape:
|
| 330 |
+
- 1
|
| 331 |
+
names: null
|
| 332 |
+
task_index:
|
| 333 |
+
dtype: int64
|
| 334 |
+
shape:
|
| 335 |
+
- 1
|
| 336 |
+
names: null
|
| 337 |
+
gripper_open_scale_state:
|
| 338 |
+
names:
|
| 339 |
+
- left_gripper_open_scale
|
| 340 |
+
- right_gripper_open_scale
|
| 341 |
+
dtype: float64
|
| 342 |
+
shape:
|
| 343 |
+
- 2
|
| 344 |
+
gripper_open_scale_action:
|
| 345 |
+
names:
|
| 346 |
+
- left_gripper_open_scale
|
| 347 |
+
- right_gripper_open_scale
|
| 348 |
+
dtype: float64
|
| 349 |
+
shape:
|
| 350 |
+
- 2
|
| 351 |
+
eef_sim_pose_state:
|
| 352 |
+
names:
|
| 353 |
+
- left_eef_pos_x
|
| 354 |
+
- left_eef_pos_y
|
| 355 |
+
- left_eef_pos_z
|
| 356 |
+
- left_eef_rot_x
|
| 357 |
+
- left_eef_rot_y
|
| 358 |
+
- left_eef_rot_z
|
| 359 |
+
- right_eef_pos_x
|
| 360 |
+
- right_eef_pos_y
|
| 361 |
+
- right_eef_pos_z
|
| 362 |
+
- right_eef_rot_x
|
| 363 |
+
- right_eef_rot_y
|
| 364 |
+
- right_eef_rot_z
|
| 365 |
+
dtype: float32
|
| 366 |
+
shape:
|
| 367 |
+
- 12
|
| 368 |
+
eef_sim_pose_action:
|
| 369 |
+
names:
|
| 370 |
+
- left_eef_pos_x
|
| 371 |
+
- left_eef_pos_y
|
| 372 |
+
- left_eef_pos_z
|
| 373 |
+
- left_eef_rot_x
|
| 374 |
+
- left_eef_rot_y
|
| 375 |
+
- left_eef_rot_z
|
| 376 |
+
- right_eef_pos_x
|
| 377 |
+
- right_eef_pos_y
|
| 378 |
+
- right_eef_pos_z
|
| 379 |
+
- right_eef_rot_x
|
| 380 |
+
- right_eef_rot_y
|
| 381 |
+
- right_eef_rot_z
|
| 382 |
+
dtype: float32
|
| 383 |
+
shape:
|
| 384 |
+
- 12
|
| 385 |
+
eef_direction_state:
|
| 386 |
+
names:
|
| 387 |
+
- left_eef_direction
|
| 388 |
+
- right_eef_direction
|
| 389 |
+
dtype: int32
|
| 390 |
+
shape:
|
| 391 |
+
- 2
|
| 392 |
+
eef_direction_action:
|
| 393 |
+
names:
|
| 394 |
+
- left_eef_direction
|
| 395 |
+
- right_eef_direction
|
| 396 |
+
dtype: int32
|
| 397 |
+
shape:
|
| 398 |
+
- 2
|
| 399 |
+
eef_velocity_state:
|
| 400 |
+
names:
|
| 401 |
+
- left_eef_velocity
|
| 402 |
+
- right_eef_velocity
|
| 403 |
+
dtype: int32
|
| 404 |
+
shape:
|
| 405 |
+
- 2
|
| 406 |
+
eef_velocity_action:
|
| 407 |
+
names:
|
| 408 |
+
- left_eef_velocity
|
| 409 |
+
- right_eef_velocity
|
| 410 |
+
dtype: int32
|
| 411 |
+
shape:
|
| 412 |
+
- 2
|
| 413 |
+
eef_acc_mag_state:
|
| 414 |
+
names:
|
| 415 |
+
- left_eef_acc_mag
|
| 416 |
+
- right_eef_acc_mag
|
| 417 |
+
dtype: int32
|
| 418 |
+
shape:
|
| 419 |
+
- 2
|
| 420 |
+
eef_acc_mag_action:
|
| 421 |
+
names:
|
| 422 |
+
- left_eef_acc_mag
|
| 423 |
+
- right_eef_acc_mag
|
| 424 |
+
dtype: int32
|
| 425 |
+
shape:
|
| 426 |
+
- 2
|
| 427 |
+
gripper_mode_state:
|
| 428 |
+
names:
|
| 429 |
+
- left_gripper_mode
|
| 430 |
+
- right_gripper_mode
|
| 431 |
+
dtype: int32
|
| 432 |
+
shape:
|
| 433 |
+
- 2
|
| 434 |
+
gripper_mode_action:
|
| 435 |
+
names:
|
| 436 |
+
- left_gripper_mode
|
| 437 |
+
- right_gripper_mode
|
| 438 |
+
dtype: int32
|
| 439 |
+
shape:
|
| 440 |
+
- 2
|
| 441 |
+
gripper_activity_state:
|
| 442 |
+
names:
|
| 443 |
+
- left_gripper_activity
|
| 444 |
+
- right_gripper_activity
|
| 445 |
+
dtype: int32
|
| 446 |
+
shape:
|
| 447 |
+
- 2
|
| 448 |
+
gripper_activity_action:
|
| 449 |
+
names:
|
| 450 |
+
- left_gripper_activity
|
| 451 |
+
- right_gripper_activity
|
| 452 |
+
dtype: int32
|
| 453 |
+
shape:
|
| 454 |
+
- 2
|
| 455 |
+
authors:
|
| 456 |
+
contributed_by:
|
| 457 |
+
- name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
|
| 458 |
+
dataset_description: This dataset uses an extended format based on LeRobot and is
|
| 459 |
+
fully compatible with LeRobot.
|
| 460 |
+
homepage: https://flagopen.github.io/RoboCOIN/
|
| 461 |
+
paper: https://arxiv.org/abs/2511.17441
|
| 462 |
+
repository: https://github.com/FlagOpen/RoboCOIN
|
| 463 |
+
contact_info: For questions, issues, or feedback regarding this dataset, please contact
|
| 464 |
+
us.
|
| 465 |
+
support_info: For technical support, please open an issue on our GitHub repository.
|
| 466 |
+
license_details: apache-2.0
|
| 467 |
+
citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\
|
| 468 |
+
\ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\
|
| 469 |
+
\ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
|
| 470 |
+
\ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
|
| 471 |
+
\ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
|
| 472 |
+
\ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
|
| 473 |
+
\ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
|
| 474 |
+
\ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
|
| 475 |
+
\ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
|
| 476 |
+
\ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
|
| 477 |
+
\ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
|
| 478 |
+
\ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
|
| 479 |
+
\ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
|
| 480 |
+
\ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
|
| 481 |
+
\ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\
|
| 482 |
+
\ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n"
|
| 483 |
+
additional_citations: 'If you use this dataset, please also consider citing:
|
| 484 |
+
|
| 485 |
+
LeRobot Framework: https://github.com/huggingface/lerobot
|
| 486 |
+
|
| 487 |
+
'
|
| 488 |
+
version_info: Initial Release
|
| 489 |
+
data_path: data/chunk-{id}/episode_{id}.parquet
|
| 490 |
+
video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
|
| 491 |
+
video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4
|
dataset_info/Galbot_G1_fold_clothes_4.yaml
ADDED
|
@@ -0,0 +1,495 @@
|
|
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|
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|
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|
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|
|
|
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|
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|
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|
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|
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|
|
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|
|
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|
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|
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|
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|
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|
|
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|
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|
|
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|
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|
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|
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|
|
|
|
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|
|
|
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|
|
|
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|
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|
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|
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|
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|
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|
|
|
|
|
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|
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|
|
|
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|
|
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|
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|
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|
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|
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|
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|
|
|
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|
|
|
|
|
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|
|
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|
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|
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|
|
|
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|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
task_categories:
|
| 2 |
+
- robotics
|
| 3 |
+
language:
|
| 4 |
+
- en
|
| 5 |
+
tags:
|
| 6 |
+
- RoboCOIN
|
| 7 |
+
- LeRobot
|
| 8 |
+
license: apache-2.0
|
| 9 |
+
configs:
|
| 10 |
+
- config_name: default
|
| 11 |
+
data_files: data/chunk-{id}/episode_{id}.parquet
|
| 12 |
+
extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
|
| 13 |
+
in your research/publications—see the "Citation" section for details. You agree
|
| 14 |
+
to not use the dataset to conduct experiments that cause harm to human subjects.
|
| 15 |
+
extra_gated_fields:
|
| 16 |
+
Company/Organization:
|
| 17 |
+
type: text
|
| 18 |
+
description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
|
| 19 |
+
Country:
|
| 20 |
+
type: country
|
| 21 |
+
description: e.g., "Germany", "China", "United States"
|
| 22 |
+
codebase_version: v2.1
|
| 23 |
+
dataset_name: Galbot_G1_fold_clothes_4
|
| 24 |
+
dataset_uuid: 570b72c8-664e-40f3-a08c-4af987ed76d7
|
| 25 |
+
scene_type:
|
| 26 |
+
level1: Household
|
| 27 |
+
level2: Bedroom
|
| 28 |
+
level3: null
|
| 29 |
+
level4: null
|
| 30 |
+
level5: null
|
| 31 |
+
env_type: real_world
|
| 32 |
+
objects:
|
| 33 |
+
- id: t_shirt
|
| 34 |
+
name: T-shirt
|
| 35 |
+
color: black
|
| 36 |
+
anchor_policy: static
|
| 37 |
+
- id: basket
|
| 38 |
+
name: basket
|
| 39 |
+
color: brown
|
| 40 |
+
anchor_policy: static
|
| 41 |
+
- id: bed
|
| 42 |
+
name: bed
|
| 43 |
+
color: white
|
| 44 |
+
anchor_policy: static
|
| 45 |
+
task_operation_type: mobile_dual_arm
|
| 46 |
+
task_instruction: Fold the clothes on the bed and place them into the basket.
|
| 47 |
+
sub_tasks:
|
| 48 |
+
- Fold the clothes on the bed and place them into the basket.
|
| 49 |
+
atomic_actions:
|
| 50 |
+
- grasp
|
| 51 |
+
- fold
|
| 52 |
+
- place
|
| 53 |
+
robot_name: Galbot_G1
|
| 54 |
+
end_effector_type: two_finger_end_effector
|
| 55 |
+
tele_type: master_arm
|
| 56 |
+
sensor_list:
|
| 57 |
+
- cam_right_head_rgb
|
| 58 |
+
- cam_left_head_rgb
|
| 59 |
+
- cam_right_wrist_rgb
|
| 60 |
+
- cam_left_wrist_rgb
|
| 61 |
+
came_info:
|
| 62 |
+
cam_right_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 63 |
+
pix_fmt=yuv420p
|
| 64 |
+
cam_left_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 65 |
+
pix_fmt=yuv420p
|
| 66 |
+
cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 67 |
+
pix_fmt=yuv420p
|
| 68 |
+
cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 69 |
+
pix_fmt=yuv420p
|
| 70 |
+
depth_enabled: false
|
| 71 |
+
coordinate_definition: right-hand-frame
|
| 72 |
+
joint_rotation_dim: radian
|
| 73 |
+
end_rotation_dim: radian
|
| 74 |
+
end_translation_dim: meter
|
| 75 |
+
annotations:
|
| 76 |
+
- eef_acc_mag_annotation.jsonl
|
| 77 |
+
- eef_direction_annotation.jsonl
|
| 78 |
+
- eef_velocity_annotation.jsonl
|
| 79 |
+
- gripper_activity_annotation.jsonl
|
| 80 |
+
- gripper_mode_annotation.jsonl
|
| 81 |
+
statistics:
|
| 82 |
+
total_episodes: 24
|
| 83 |
+
total_frames: 64971
|
| 84 |
+
fps: 30
|
| 85 |
+
total_tasks: 1
|
| 86 |
+
total_videos: 96
|
| 87 |
+
total_chunks: 1
|
| 88 |
+
chunks_size: 10000
|
| 89 |
+
state_dim: 31
|
| 90 |
+
action_dim: 31
|
| 91 |
+
camera_views: 4
|
| 92 |
+
dataset_size: 2.67 GB
|
| 93 |
+
frame_num: 64971
|
| 94 |
+
frame_range: 100K
|
| 95 |
+
dataset_size: 2.67 GB
|
| 96 |
+
data_structure: 'Galbot_G1_fold_clothes_4_qced_hardlink/
|
| 97 |
+
|
| 98 |
+
|-- annotations
|
| 99 |
+
|
| 100 |
+
| |-- eef_acc_mag_annotation.jsonl
|
| 101 |
+
|
| 102 |
+
| |-- eef_direction_annotation.jsonl
|
| 103 |
+
|
| 104 |
+
| |-- eef_velocity_annotation.jsonl
|
| 105 |
+
|
| 106 |
+
| |-- gripper_activity_annotation.jsonl
|
| 107 |
+
|
| 108 |
+
| `-- gripper_mode_annotation.jsonl
|
| 109 |
+
|
| 110 |
+
|-- data
|
| 111 |
+
|
| 112 |
+
| `-- chunk-000
|
| 113 |
+
|
| 114 |
+
| |-- episode_000000.parquet
|
| 115 |
+
|
| 116 |
+
| |-- episode_000001.parquet
|
| 117 |
+
|
| 118 |
+
| |-- episode_000002.parquet
|
| 119 |
+
|
| 120 |
+
| |-- episode_000003.parquet
|
| 121 |
+
|
| 122 |
+
| |-- episode_000004.parquet
|
| 123 |
+
|
| 124 |
+
| |-- episode_000005.parquet
|
| 125 |
+
|
| 126 |
+
| |-- episode_000006.parquet
|
| 127 |
+
|
| 128 |
+
| |-- episode_000007.parquet
|
| 129 |
+
|
| 130 |
+
| |-- episode_000008.parquet
|
| 131 |
+
|
| 132 |
+
| |-- episode_000009.parquet
|
| 133 |
+
|
| 134 |
+
| |-- episode_000010.parquet
|
| 135 |
+
|
| 136 |
+
| `-- episode_000011.parquet
|
| 137 |
+
|
| 138 |
+
| `-- ... (12 more entries)
|
| 139 |
+
|
| 140 |
+
|-- meta
|
| 141 |
+
|
| 142 |
+
| |-- episodes.jsonl
|
| 143 |
+
|
| 144 |
+
| |-- episodes_stats.jsonl
|
| 145 |
+
|
| 146 |
+
| |-- info.json
|
| 147 |
+
|
| 148 |
+
| `-- tasks.jsonl
|
| 149 |
+
|
| 150 |
+
|-- videos
|
| 151 |
+
|
| 152 |
+
| `-- chunk-000
|
| 153 |
+
|
| 154 |
+
| |-- observation.images.cam_left_head_rgb
|
| 155 |
+
|
| 156 |
+
| |-- observation.images.cam_left_wrist_rgb
|
| 157 |
+
|
| 158 |
+
| |-- observation.images.cam_right_head_rgb
|
| 159 |
+
|
| 160 |
+
| `-- observation.images.cam_right_wrist_rgb
|
| 161 |
+
|
| 162 |
+
|-- info.yaml
|
| 163 |
+
|
| 164 |
+
`-- README.md'
|
| 165 |
+
splits:
|
| 166 |
+
train: 0:23
|
| 167 |
+
features:
|
| 168 |
+
action:
|
| 169 |
+
dtype: float32
|
| 170 |
+
names:
|
| 171 |
+
- right_arm_joint_1_rad
|
| 172 |
+
- right_arm_joint_2_rad
|
| 173 |
+
- right_arm_joint_3_rad
|
| 174 |
+
- right_arm_joint_4_rad
|
| 175 |
+
- right_arm_joint_5_rad
|
| 176 |
+
- right_arm_joint_6_rad
|
| 177 |
+
- right_arm_joint_7_rad
|
| 178 |
+
- right_gripper_open
|
| 179 |
+
- left_arm_joint_1_rad
|
| 180 |
+
- left_arm_joint_2_rad
|
| 181 |
+
- left_arm_joint_3_rad
|
| 182 |
+
- left_arm_joint_4_rad
|
| 183 |
+
- left_arm_joint_5_rad
|
| 184 |
+
- left_arm_joint_6_rad
|
| 185 |
+
- left_arm_joint_7_rad
|
| 186 |
+
- left_gripper_open
|
| 187 |
+
- torso_joint_1_rad
|
| 188 |
+
- torso_joint_2_rad
|
| 189 |
+
- torso_joint_3_rad
|
| 190 |
+
- torso_joint_4_rad
|
| 191 |
+
- torso_joint_5_rad
|
| 192 |
+
- head_joint_1_rad
|
| 193 |
+
- head_joint_2_rad
|
| 194 |
+
- chassis_pos_1
|
| 195 |
+
- chassis_pos_2
|
| 196 |
+
- chassis_pos_3
|
| 197 |
+
- chassis_pos_4
|
| 198 |
+
- chassis_vel_1
|
| 199 |
+
- chassis_vel_2
|
| 200 |
+
- chassis_vel_3
|
| 201 |
+
- chassis_vel_4
|
| 202 |
+
shape:
|
| 203 |
+
- 31
|
| 204 |
+
observation.state:
|
| 205 |
+
dtype: float32
|
| 206 |
+
names:
|
| 207 |
+
- right_arm_joint_1_rad
|
| 208 |
+
- right_arm_joint_2_rad
|
| 209 |
+
- right_arm_joint_3_rad
|
| 210 |
+
- right_arm_joint_4_rad
|
| 211 |
+
- right_arm_joint_5_rad
|
| 212 |
+
- right_arm_joint_6_rad
|
| 213 |
+
- right_arm_joint_7_rad
|
| 214 |
+
- right_gripper_open
|
| 215 |
+
- left_arm_joint_1_rad
|
| 216 |
+
- left_arm_joint_2_rad
|
| 217 |
+
- left_arm_joint_3_rad
|
| 218 |
+
- left_arm_joint_4_rad
|
| 219 |
+
- left_arm_joint_5_rad
|
| 220 |
+
- left_arm_joint_6_rad
|
| 221 |
+
- left_arm_joint_7_rad
|
| 222 |
+
- left_gripper_open
|
| 223 |
+
- torso_joint_1_rad
|
| 224 |
+
- torso_joint_2_rad
|
| 225 |
+
- torso_joint_3_rad
|
| 226 |
+
- torso_joint_4_rad
|
| 227 |
+
- torso_joint_5_rad
|
| 228 |
+
- head_joint_1_rad
|
| 229 |
+
- head_joint_2_rad
|
| 230 |
+
- chassis_pos_1
|
| 231 |
+
- chassis_pos_2
|
| 232 |
+
- chassis_pos_3
|
| 233 |
+
- chassis_pos_4
|
| 234 |
+
- chassis_vel_1
|
| 235 |
+
- chassis_vel_2
|
| 236 |
+
- chassis_vel_3
|
| 237 |
+
- chassis_vel_4
|
| 238 |
+
shape:
|
| 239 |
+
- 31
|
| 240 |
+
observation.images.cam_right_head_rgb:
|
| 241 |
+
dtype: video
|
| 242 |
+
shape:
|
| 243 |
+
- 480
|
| 244 |
+
- 640
|
| 245 |
+
- 3
|
| 246 |
+
names:
|
| 247 |
+
- height
|
| 248 |
+
- width
|
| 249 |
+
- channels
|
| 250 |
+
info:
|
| 251 |
+
video.fps: 30
|
| 252 |
+
video.height: 480
|
| 253 |
+
video.width: 640
|
| 254 |
+
video.channels: 3
|
| 255 |
+
video.codec: libx264
|
| 256 |
+
video.pix_fmt: yuv420p
|
| 257 |
+
video.is_depth_map: false
|
| 258 |
+
has_audio: false
|
| 259 |
+
observation.images.cam_left_head_rgb:
|
| 260 |
+
dtype: video
|
| 261 |
+
shape:
|
| 262 |
+
- 480
|
| 263 |
+
- 640
|
| 264 |
+
- 3
|
| 265 |
+
names:
|
| 266 |
+
- height
|
| 267 |
+
- width
|
| 268 |
+
- channels
|
| 269 |
+
info:
|
| 270 |
+
video.fps: 30
|
| 271 |
+
video.height: 480
|
| 272 |
+
video.width: 640
|
| 273 |
+
video.channels: 3
|
| 274 |
+
video.codec: libx264
|
| 275 |
+
video.pix_fmt: yuv420p
|
| 276 |
+
video.is_depth_map: false
|
| 277 |
+
has_audio: false
|
| 278 |
+
observation.images.cam_right_wrist_rgb:
|
| 279 |
+
dtype: video
|
| 280 |
+
shape:
|
| 281 |
+
- 480
|
| 282 |
+
- 640
|
| 283 |
+
- 3
|
| 284 |
+
names:
|
| 285 |
+
- height
|
| 286 |
+
- width
|
| 287 |
+
- channels
|
| 288 |
+
info:
|
| 289 |
+
video.fps: 30
|
| 290 |
+
video.height: 480
|
| 291 |
+
video.width: 640
|
| 292 |
+
video.channels: 3
|
| 293 |
+
video.codec: libx264
|
| 294 |
+
video.pix_fmt: yuv420p
|
| 295 |
+
video.is_depth_map: false
|
| 296 |
+
has_audio: false
|
| 297 |
+
observation.images.cam_left_wrist_rgb:
|
| 298 |
+
dtype: video
|
| 299 |
+
shape:
|
| 300 |
+
- 480
|
| 301 |
+
- 640
|
| 302 |
+
- 3
|
| 303 |
+
names:
|
| 304 |
+
- height
|
| 305 |
+
- width
|
| 306 |
+
- channels
|
| 307 |
+
info:
|
| 308 |
+
video.fps: 30
|
| 309 |
+
video.height: 480
|
| 310 |
+
video.width: 640
|
| 311 |
+
video.channels: 3
|
| 312 |
+
video.codec: libx264
|
| 313 |
+
video.pix_fmt: yuv420p
|
| 314 |
+
video.is_depth_map: false
|
| 315 |
+
has_audio: false
|
| 316 |
+
timestamp:
|
| 317 |
+
dtype: float32
|
| 318 |
+
shape:
|
| 319 |
+
- 1
|
| 320 |
+
names: null
|
| 321 |
+
frame_index:
|
| 322 |
+
dtype: int64
|
| 323 |
+
shape:
|
| 324 |
+
- 1
|
| 325 |
+
names: null
|
| 326 |
+
episode_index:
|
| 327 |
+
dtype: int64
|
| 328 |
+
shape:
|
| 329 |
+
- 1
|
| 330 |
+
names: null
|
| 331 |
+
index:
|
| 332 |
+
dtype: int64
|
| 333 |
+
shape:
|
| 334 |
+
- 1
|
| 335 |
+
names: null
|
| 336 |
+
task_index:
|
| 337 |
+
dtype: int64
|
| 338 |
+
shape:
|
| 339 |
+
- 1
|
| 340 |
+
names: null
|
| 341 |
+
gripper_open_scale_state:
|
| 342 |
+
names:
|
| 343 |
+
- left_gripper_open_scale
|
| 344 |
+
- right_gripper_open_scale
|
| 345 |
+
dtype: float64
|
| 346 |
+
shape:
|
| 347 |
+
- 2
|
| 348 |
+
gripper_open_scale_action:
|
| 349 |
+
names:
|
| 350 |
+
- left_gripper_open_scale
|
| 351 |
+
- right_gripper_open_scale
|
| 352 |
+
dtype: float64
|
| 353 |
+
shape:
|
| 354 |
+
- 2
|
| 355 |
+
eef_sim_pose_state:
|
| 356 |
+
names:
|
| 357 |
+
- left_eef_pos_x
|
| 358 |
+
- left_eef_pos_y
|
| 359 |
+
- left_eef_pos_z
|
| 360 |
+
- left_eef_rot_x
|
| 361 |
+
- left_eef_rot_y
|
| 362 |
+
- left_eef_rot_z
|
| 363 |
+
- right_eef_pos_x
|
| 364 |
+
- right_eef_pos_y
|
| 365 |
+
- right_eef_pos_z
|
| 366 |
+
- right_eef_rot_x
|
| 367 |
+
- right_eef_rot_y
|
| 368 |
+
- right_eef_rot_z
|
| 369 |
+
dtype: float32
|
| 370 |
+
shape:
|
| 371 |
+
- 12
|
| 372 |
+
eef_sim_pose_action:
|
| 373 |
+
names:
|
| 374 |
+
- left_eef_pos_x
|
| 375 |
+
- left_eef_pos_y
|
| 376 |
+
- left_eef_pos_z
|
| 377 |
+
- left_eef_rot_x
|
| 378 |
+
- left_eef_rot_y
|
| 379 |
+
- left_eef_rot_z
|
| 380 |
+
- right_eef_pos_x
|
| 381 |
+
- right_eef_pos_y
|
| 382 |
+
- right_eef_pos_z
|
| 383 |
+
- right_eef_rot_x
|
| 384 |
+
- right_eef_rot_y
|
| 385 |
+
- right_eef_rot_z
|
| 386 |
+
dtype: float32
|
| 387 |
+
shape:
|
| 388 |
+
- 12
|
| 389 |
+
eef_direction_state:
|
| 390 |
+
names:
|
| 391 |
+
- left_eef_direction
|
| 392 |
+
- right_eef_direction
|
| 393 |
+
dtype: int32
|
| 394 |
+
shape:
|
| 395 |
+
- 2
|
| 396 |
+
eef_direction_action:
|
| 397 |
+
names:
|
| 398 |
+
- left_eef_direction
|
| 399 |
+
- right_eef_direction
|
| 400 |
+
dtype: int32
|
| 401 |
+
shape:
|
| 402 |
+
- 2
|
| 403 |
+
eef_velocity_state:
|
| 404 |
+
names:
|
| 405 |
+
- left_eef_velocity
|
| 406 |
+
- right_eef_velocity
|
| 407 |
+
dtype: int32
|
| 408 |
+
shape:
|
| 409 |
+
- 2
|
| 410 |
+
eef_velocity_action:
|
| 411 |
+
names:
|
| 412 |
+
- left_eef_velocity
|
| 413 |
+
- right_eef_velocity
|
| 414 |
+
dtype: int32
|
| 415 |
+
shape:
|
| 416 |
+
- 2
|
| 417 |
+
eef_acc_mag_state:
|
| 418 |
+
names:
|
| 419 |
+
- left_eef_acc_mag
|
| 420 |
+
- right_eef_acc_mag
|
| 421 |
+
dtype: int32
|
| 422 |
+
shape:
|
| 423 |
+
- 2
|
| 424 |
+
eef_acc_mag_action:
|
| 425 |
+
names:
|
| 426 |
+
- left_eef_acc_mag
|
| 427 |
+
- right_eef_acc_mag
|
| 428 |
+
dtype: int32
|
| 429 |
+
shape:
|
| 430 |
+
- 2
|
| 431 |
+
gripper_mode_state:
|
| 432 |
+
names:
|
| 433 |
+
- left_gripper_mode
|
| 434 |
+
- right_gripper_mode
|
| 435 |
+
dtype: int32
|
| 436 |
+
shape:
|
| 437 |
+
- 2
|
| 438 |
+
gripper_mode_action:
|
| 439 |
+
names:
|
| 440 |
+
- left_gripper_mode
|
| 441 |
+
- right_gripper_mode
|
| 442 |
+
dtype: int32
|
| 443 |
+
shape:
|
| 444 |
+
- 2
|
| 445 |
+
gripper_activity_state:
|
| 446 |
+
names:
|
| 447 |
+
- left_gripper_activity
|
| 448 |
+
- right_gripper_activity
|
| 449 |
+
dtype: int32
|
| 450 |
+
shape:
|
| 451 |
+
- 2
|
| 452 |
+
gripper_activity_action:
|
| 453 |
+
names:
|
| 454 |
+
- left_gripper_activity
|
| 455 |
+
- right_gripper_activity
|
| 456 |
+
dtype: int32
|
| 457 |
+
shape:
|
| 458 |
+
- 2
|
| 459 |
+
authors:
|
| 460 |
+
contributed_by:
|
| 461 |
+
- name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
|
| 462 |
+
dataset_description: This dataset uses an extended format based on LeRobot and is
|
| 463 |
+
fully compatible with LeRobot.
|
| 464 |
+
homepage: https://flagopen.github.io/RoboCOIN/
|
| 465 |
+
paper: https://arxiv.org/abs/2511.17441
|
| 466 |
+
repository: https://github.com/FlagOpen/RoboCOIN
|
| 467 |
+
contact_info: For questions, issues, or feedback regarding this dataset, please contact
|
| 468 |
+
us.
|
| 469 |
+
support_info: For technical support, please open an issue on our GitHub repository.
|
| 470 |
+
license_details: apache-2.0
|
| 471 |
+
citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\
|
| 472 |
+
\ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\
|
| 473 |
+
\ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
|
| 474 |
+
\ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
|
| 475 |
+
\ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
|
| 476 |
+
\ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
|
| 477 |
+
\ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
|
| 478 |
+
\ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
|
| 479 |
+
\ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
|
| 480 |
+
\ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
|
| 481 |
+
\ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
|
| 482 |
+
\ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
|
| 483 |
+
\ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
|
| 484 |
+
\ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
|
| 485 |
+
\ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\
|
| 486 |
+
\ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n"
|
| 487 |
+
additional_citations: 'If you use this dataset, please also consider citing:
|
| 488 |
+
|
| 489 |
+
LeRobot Framework: https://github.com/huggingface/lerobot
|
| 490 |
+
|
| 491 |
+
'
|
| 492 |
+
version_info: Initial Release
|
| 493 |
+
data_path: data/chunk-{id}/episode_{id}.parquet
|
| 494 |
+
video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
|
| 495 |
+
video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4
|
dataset_info/Galbot_G1_hang_clothes.yaml
ADDED
|
@@ -0,0 +1,495 @@
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
task_categories:
|
| 2 |
+
- robotics
|
| 3 |
+
language:
|
| 4 |
+
- en
|
| 5 |
+
tags:
|
| 6 |
+
- RoboCOIN
|
| 7 |
+
- LeRobot
|
| 8 |
+
license: apache-2.0
|
| 9 |
+
configs:
|
| 10 |
+
- config_name: default
|
| 11 |
+
data_files: data/chunk-{id}/episode_{id}.parquet
|
| 12 |
+
extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
|
| 13 |
+
in your research/publications—see the "Citation" section for details. You agree
|
| 14 |
+
to not use the dataset to conduct experiments that cause harm to human subjects.
|
| 15 |
+
extra_gated_fields:
|
| 16 |
+
Company/Organization:
|
| 17 |
+
type: text
|
| 18 |
+
description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
|
| 19 |
+
Country:
|
| 20 |
+
type: country
|
| 21 |
+
description: e.g., "Germany", "China", "United States"
|
| 22 |
+
codebase_version: v2.1
|
| 23 |
+
dataset_name: Galbot_G1_hang_clothes
|
| 24 |
+
dataset_uuid: 483ecbc3-824c-419e-b4e7-a17df0553534
|
| 25 |
+
scene_type:
|
| 26 |
+
level1: Retail
|
| 27 |
+
level2: Supermarket
|
| 28 |
+
level3: null
|
| 29 |
+
level4: null
|
| 30 |
+
level5: null
|
| 31 |
+
env_type: real_world
|
| 32 |
+
objects:
|
| 33 |
+
- id: clothes
|
| 34 |
+
name: clothes
|
| 35 |
+
color: blue
|
| 36 |
+
anchor_policy: static
|
| 37 |
+
- id: coat_stand
|
| 38 |
+
name: coat stand
|
| 39 |
+
color: brown
|
| 40 |
+
anchor_policy: static
|
| 41 |
+
- id: bed
|
| 42 |
+
name: bed
|
| 43 |
+
color: white
|
| 44 |
+
anchor_policy: static
|
| 45 |
+
task_operation_type: mobile_dual_arm
|
| 46 |
+
task_instruction: Pick up the clothes from the bed and hang them on the clothes hanger.
|
| 47 |
+
sub_tasks:
|
| 48 |
+
- Pick up the clothes from the bed and hang them on the clothes hanger.
|
| 49 |
+
atomic_actions:
|
| 50 |
+
- move
|
| 51 |
+
- grasp
|
| 52 |
+
- hang
|
| 53 |
+
robot_name: Galbot_G1
|
| 54 |
+
end_effector_type: two_finger_end_effector
|
| 55 |
+
tele_type: master_arm
|
| 56 |
+
sensor_list:
|
| 57 |
+
- cam_right_head_rgb
|
| 58 |
+
- cam_left_head_rgb
|
| 59 |
+
- cam_right_wrist_rgb
|
| 60 |
+
- cam_left_wrist_rgb
|
| 61 |
+
came_info:
|
| 62 |
+
cam_right_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 63 |
+
pix_fmt=yuv420p
|
| 64 |
+
cam_left_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 65 |
+
pix_fmt=yuv420p
|
| 66 |
+
cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 67 |
+
pix_fmt=yuv420p
|
| 68 |
+
cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 69 |
+
pix_fmt=yuv420p
|
| 70 |
+
depth_enabled: false
|
| 71 |
+
coordinate_definition: right-hand-frame
|
| 72 |
+
joint_rotation_dim: radian
|
| 73 |
+
end_rotation_dim: radian
|
| 74 |
+
end_translation_dim: meter
|
| 75 |
+
annotations:
|
| 76 |
+
- eef_acc_mag_annotation.jsonl
|
| 77 |
+
- eef_direction_annotation.jsonl
|
| 78 |
+
- eef_velocity_annotation.jsonl
|
| 79 |
+
- gripper_activity_annotation.jsonl
|
| 80 |
+
- gripper_mode_annotation.jsonl
|
| 81 |
+
statistics:
|
| 82 |
+
total_episodes: 181
|
| 83 |
+
total_frames: 412110
|
| 84 |
+
fps: 30
|
| 85 |
+
total_tasks: 1
|
| 86 |
+
total_videos: 724
|
| 87 |
+
total_chunks: 1
|
| 88 |
+
chunks_size: 10000
|
| 89 |
+
state_dim: 31
|
| 90 |
+
action_dim: 31
|
| 91 |
+
camera_views: 4
|
| 92 |
+
dataset_size: 19.70 GB
|
| 93 |
+
frame_num: 412110
|
| 94 |
+
frame_range: 1M
|
| 95 |
+
dataset_size: 19.70 GB
|
| 96 |
+
data_structure: 'Galbot_G1_hang_clothes_0_qced_hardlink/
|
| 97 |
+
|
| 98 |
+
|-- annotations
|
| 99 |
+
|
| 100 |
+
| |-- eef_acc_mag_annotation.jsonl
|
| 101 |
+
|
| 102 |
+
| |-- eef_direction_annotation.jsonl
|
| 103 |
+
|
| 104 |
+
| |-- eef_velocity_annotation.jsonl
|
| 105 |
+
|
| 106 |
+
| |-- gripper_activity_annotation.jsonl
|
| 107 |
+
|
| 108 |
+
| `-- gripper_mode_annotation.jsonl
|
| 109 |
+
|
| 110 |
+
|-- data
|
| 111 |
+
|
| 112 |
+
| `-- chunk-000
|
| 113 |
+
|
| 114 |
+
| |-- episode_000000.parquet
|
| 115 |
+
|
| 116 |
+
| |-- episode_000001.parquet
|
| 117 |
+
|
| 118 |
+
| |-- episode_000002.parquet
|
| 119 |
+
|
| 120 |
+
| |-- episode_000003.parquet
|
| 121 |
+
|
| 122 |
+
| |-- episode_000004.parquet
|
| 123 |
+
|
| 124 |
+
| |-- episode_000005.parquet
|
| 125 |
+
|
| 126 |
+
| |-- episode_000006.parquet
|
| 127 |
+
|
| 128 |
+
| |-- episode_000007.parquet
|
| 129 |
+
|
| 130 |
+
| |-- episode_000008.parquet
|
| 131 |
+
|
| 132 |
+
| |-- episode_000009.parquet
|
| 133 |
+
|
| 134 |
+
| |-- episode_000010.parquet
|
| 135 |
+
|
| 136 |
+
| `-- episode_000011.parquet
|
| 137 |
+
|
| 138 |
+
| `-- ... (169 more entries)
|
| 139 |
+
|
| 140 |
+
|-- meta
|
| 141 |
+
|
| 142 |
+
| |-- episodes.jsonl
|
| 143 |
+
|
| 144 |
+
| |-- episodes_stats.jsonl
|
| 145 |
+
|
| 146 |
+
| |-- info.json
|
| 147 |
+
|
| 148 |
+
| `-- tasks.jsonl
|
| 149 |
+
|
| 150 |
+
|-- videos
|
| 151 |
+
|
| 152 |
+
| `-- chunk-000
|
| 153 |
+
|
| 154 |
+
| |-- observation.images.cam_left_head_rgb
|
| 155 |
+
|
| 156 |
+
| |-- observation.images.cam_left_wrist_rgb
|
| 157 |
+
|
| 158 |
+
| |-- observation.images.cam_right_head_rgb
|
| 159 |
+
|
| 160 |
+
| `-- observation.images.cam_right_wrist_rgb
|
| 161 |
+
|
| 162 |
+
|-- info.yaml
|
| 163 |
+
|
| 164 |
+
`-- README.md'
|
| 165 |
+
splits:
|
| 166 |
+
train: 0:180
|
| 167 |
+
features:
|
| 168 |
+
action:
|
| 169 |
+
dtype: float32
|
| 170 |
+
names:
|
| 171 |
+
- right_arm_joint_1_rad
|
| 172 |
+
- right_arm_joint_2_rad
|
| 173 |
+
- right_arm_joint_3_rad
|
| 174 |
+
- right_arm_joint_4_rad
|
| 175 |
+
- right_arm_joint_5_rad
|
| 176 |
+
- right_arm_joint_6_rad
|
| 177 |
+
- right_arm_joint_7_rad
|
| 178 |
+
- right_gripper_open
|
| 179 |
+
- left_arm_joint_1_rad
|
| 180 |
+
- left_arm_joint_2_rad
|
| 181 |
+
- left_arm_joint_3_rad
|
| 182 |
+
- left_arm_joint_4_rad
|
| 183 |
+
- left_arm_joint_5_rad
|
| 184 |
+
- left_arm_joint_6_rad
|
| 185 |
+
- left_arm_joint_7_rad
|
| 186 |
+
- left_gripper_open
|
| 187 |
+
- torso_joint_1_rad
|
| 188 |
+
- torso_joint_2_rad
|
| 189 |
+
- torso_joint_3_rad
|
| 190 |
+
- torso_joint_4_rad
|
| 191 |
+
- torso_joint_5_rad
|
| 192 |
+
- head_joint_1_rad
|
| 193 |
+
- head_joint_2_rad
|
| 194 |
+
- chassis_pos_1
|
| 195 |
+
- chassis_pos_2
|
| 196 |
+
- chassis_pos_3
|
| 197 |
+
- chassis_pos_4
|
| 198 |
+
- chassis_vel_1
|
| 199 |
+
- chassis_vel_2
|
| 200 |
+
- chassis_vel_3
|
| 201 |
+
- chassis_vel_4
|
| 202 |
+
shape:
|
| 203 |
+
- 31
|
| 204 |
+
observation.state:
|
| 205 |
+
dtype: float32
|
| 206 |
+
names:
|
| 207 |
+
- right_arm_joint_1_rad
|
| 208 |
+
- right_arm_joint_2_rad
|
| 209 |
+
- right_arm_joint_3_rad
|
| 210 |
+
- right_arm_joint_4_rad
|
| 211 |
+
- right_arm_joint_5_rad
|
| 212 |
+
- right_arm_joint_6_rad
|
| 213 |
+
- right_arm_joint_7_rad
|
| 214 |
+
- right_gripper_open
|
| 215 |
+
- left_arm_joint_1_rad
|
| 216 |
+
- left_arm_joint_2_rad
|
| 217 |
+
- left_arm_joint_3_rad
|
| 218 |
+
- left_arm_joint_4_rad
|
| 219 |
+
- left_arm_joint_5_rad
|
| 220 |
+
- left_arm_joint_6_rad
|
| 221 |
+
- left_arm_joint_7_rad
|
| 222 |
+
- left_gripper_open
|
| 223 |
+
- torso_joint_1_rad
|
| 224 |
+
- torso_joint_2_rad
|
| 225 |
+
- torso_joint_3_rad
|
| 226 |
+
- torso_joint_4_rad
|
| 227 |
+
- torso_joint_5_rad
|
| 228 |
+
- head_joint_1_rad
|
| 229 |
+
- head_joint_2_rad
|
| 230 |
+
- chassis_pos_1
|
| 231 |
+
- chassis_pos_2
|
| 232 |
+
- chassis_pos_3
|
| 233 |
+
- chassis_pos_4
|
| 234 |
+
- chassis_vel_1
|
| 235 |
+
- chassis_vel_2
|
| 236 |
+
- chassis_vel_3
|
| 237 |
+
- chassis_vel_4
|
| 238 |
+
shape:
|
| 239 |
+
- 31
|
| 240 |
+
observation.images.cam_right_head_rgb:
|
| 241 |
+
dtype: video
|
| 242 |
+
shape:
|
| 243 |
+
- 480
|
| 244 |
+
- 640
|
| 245 |
+
- 3
|
| 246 |
+
names:
|
| 247 |
+
- height
|
| 248 |
+
- width
|
| 249 |
+
- channels
|
| 250 |
+
info:
|
| 251 |
+
video.fps: 30
|
| 252 |
+
video.height: 480
|
| 253 |
+
video.width: 640
|
| 254 |
+
video.channels: 3
|
| 255 |
+
video.codec: libx264
|
| 256 |
+
video.pix_fmt: yuv420p
|
| 257 |
+
video.is_depth_map: false
|
| 258 |
+
has_audio: false
|
| 259 |
+
observation.images.cam_left_head_rgb:
|
| 260 |
+
dtype: video
|
| 261 |
+
shape:
|
| 262 |
+
- 480
|
| 263 |
+
- 640
|
| 264 |
+
- 3
|
| 265 |
+
names:
|
| 266 |
+
- height
|
| 267 |
+
- width
|
| 268 |
+
- channels
|
| 269 |
+
info:
|
| 270 |
+
video.fps: 30
|
| 271 |
+
video.height: 480
|
| 272 |
+
video.width: 640
|
| 273 |
+
video.channels: 3
|
| 274 |
+
video.codec: libx264
|
| 275 |
+
video.pix_fmt: yuv420p
|
| 276 |
+
video.is_depth_map: false
|
| 277 |
+
has_audio: false
|
| 278 |
+
observation.images.cam_right_wrist_rgb:
|
| 279 |
+
dtype: video
|
| 280 |
+
shape:
|
| 281 |
+
- 480
|
| 282 |
+
- 640
|
| 283 |
+
- 3
|
| 284 |
+
names:
|
| 285 |
+
- height
|
| 286 |
+
- width
|
| 287 |
+
- channels
|
| 288 |
+
info:
|
| 289 |
+
video.fps: 30
|
| 290 |
+
video.height: 480
|
| 291 |
+
video.width: 640
|
| 292 |
+
video.channels: 3
|
| 293 |
+
video.codec: libx264
|
| 294 |
+
video.pix_fmt: yuv420p
|
| 295 |
+
video.is_depth_map: false
|
| 296 |
+
has_audio: false
|
| 297 |
+
observation.images.cam_left_wrist_rgb:
|
| 298 |
+
dtype: video
|
| 299 |
+
shape:
|
| 300 |
+
- 480
|
| 301 |
+
- 640
|
| 302 |
+
- 3
|
| 303 |
+
names:
|
| 304 |
+
- height
|
| 305 |
+
- width
|
| 306 |
+
- channels
|
| 307 |
+
info:
|
| 308 |
+
video.fps: 30
|
| 309 |
+
video.height: 480
|
| 310 |
+
video.width: 640
|
| 311 |
+
video.channels: 3
|
| 312 |
+
video.codec: libx264
|
| 313 |
+
video.pix_fmt: yuv420p
|
| 314 |
+
video.is_depth_map: false
|
| 315 |
+
has_audio: false
|
| 316 |
+
timestamp:
|
| 317 |
+
dtype: float32
|
| 318 |
+
shape:
|
| 319 |
+
- 1
|
| 320 |
+
names: null
|
| 321 |
+
frame_index:
|
| 322 |
+
dtype: int64
|
| 323 |
+
shape:
|
| 324 |
+
- 1
|
| 325 |
+
names: null
|
| 326 |
+
episode_index:
|
| 327 |
+
dtype: int64
|
| 328 |
+
shape:
|
| 329 |
+
- 1
|
| 330 |
+
names: null
|
| 331 |
+
index:
|
| 332 |
+
dtype: int64
|
| 333 |
+
shape:
|
| 334 |
+
- 1
|
| 335 |
+
names: null
|
| 336 |
+
task_index:
|
| 337 |
+
dtype: int64
|
| 338 |
+
shape:
|
| 339 |
+
- 1
|
| 340 |
+
names: null
|
| 341 |
+
gripper_open_scale_state:
|
| 342 |
+
names:
|
| 343 |
+
- left_gripper_open_scale
|
| 344 |
+
- right_gripper_open_scale
|
| 345 |
+
dtype: float64
|
| 346 |
+
shape:
|
| 347 |
+
- 2
|
| 348 |
+
gripper_open_scale_action:
|
| 349 |
+
names:
|
| 350 |
+
- left_gripper_open_scale
|
| 351 |
+
- right_gripper_open_scale
|
| 352 |
+
dtype: float64
|
| 353 |
+
shape:
|
| 354 |
+
- 2
|
| 355 |
+
eef_sim_pose_state:
|
| 356 |
+
names:
|
| 357 |
+
- left_eef_pos_x
|
| 358 |
+
- left_eef_pos_y
|
| 359 |
+
- left_eef_pos_z
|
| 360 |
+
- left_eef_rot_x
|
| 361 |
+
- left_eef_rot_y
|
| 362 |
+
- left_eef_rot_z
|
| 363 |
+
- right_eef_pos_x
|
| 364 |
+
- right_eef_pos_y
|
| 365 |
+
- right_eef_pos_z
|
| 366 |
+
- right_eef_rot_x
|
| 367 |
+
- right_eef_rot_y
|
| 368 |
+
- right_eef_rot_z
|
| 369 |
+
dtype: float32
|
| 370 |
+
shape:
|
| 371 |
+
- 12
|
| 372 |
+
eef_sim_pose_action:
|
| 373 |
+
names:
|
| 374 |
+
- left_eef_pos_x
|
| 375 |
+
- left_eef_pos_y
|
| 376 |
+
- left_eef_pos_z
|
| 377 |
+
- left_eef_rot_x
|
| 378 |
+
- left_eef_rot_y
|
| 379 |
+
- left_eef_rot_z
|
| 380 |
+
- right_eef_pos_x
|
| 381 |
+
- right_eef_pos_y
|
| 382 |
+
- right_eef_pos_z
|
| 383 |
+
- right_eef_rot_x
|
| 384 |
+
- right_eef_rot_y
|
| 385 |
+
- right_eef_rot_z
|
| 386 |
+
dtype: float32
|
| 387 |
+
shape:
|
| 388 |
+
- 12
|
| 389 |
+
eef_direction_state:
|
| 390 |
+
names:
|
| 391 |
+
- left_eef_direction
|
| 392 |
+
- right_eef_direction
|
| 393 |
+
dtype: int32
|
| 394 |
+
shape:
|
| 395 |
+
- 2
|
| 396 |
+
eef_direction_action:
|
| 397 |
+
names:
|
| 398 |
+
- left_eef_direction
|
| 399 |
+
- right_eef_direction
|
| 400 |
+
dtype: int32
|
| 401 |
+
shape:
|
| 402 |
+
- 2
|
| 403 |
+
eef_velocity_state:
|
| 404 |
+
names:
|
| 405 |
+
- left_eef_velocity
|
| 406 |
+
- right_eef_velocity
|
| 407 |
+
dtype: int32
|
| 408 |
+
shape:
|
| 409 |
+
- 2
|
| 410 |
+
eef_velocity_action:
|
| 411 |
+
names:
|
| 412 |
+
- left_eef_velocity
|
| 413 |
+
- right_eef_velocity
|
| 414 |
+
dtype: int32
|
| 415 |
+
shape:
|
| 416 |
+
- 2
|
| 417 |
+
eef_acc_mag_state:
|
| 418 |
+
names:
|
| 419 |
+
- left_eef_acc_mag
|
| 420 |
+
- right_eef_acc_mag
|
| 421 |
+
dtype: int32
|
| 422 |
+
shape:
|
| 423 |
+
- 2
|
| 424 |
+
eef_acc_mag_action:
|
| 425 |
+
names:
|
| 426 |
+
- left_eef_acc_mag
|
| 427 |
+
- right_eef_acc_mag
|
| 428 |
+
dtype: int32
|
| 429 |
+
shape:
|
| 430 |
+
- 2
|
| 431 |
+
gripper_mode_state:
|
| 432 |
+
names:
|
| 433 |
+
- left_gripper_mode
|
| 434 |
+
- right_gripper_mode
|
| 435 |
+
dtype: int32
|
| 436 |
+
shape:
|
| 437 |
+
- 2
|
| 438 |
+
gripper_mode_action:
|
| 439 |
+
names:
|
| 440 |
+
- left_gripper_mode
|
| 441 |
+
- right_gripper_mode
|
| 442 |
+
dtype: int32
|
| 443 |
+
shape:
|
| 444 |
+
- 2
|
| 445 |
+
gripper_activity_state:
|
| 446 |
+
names:
|
| 447 |
+
- left_gripper_activity
|
| 448 |
+
- right_gripper_activity
|
| 449 |
+
dtype: int32
|
| 450 |
+
shape:
|
| 451 |
+
- 2
|
| 452 |
+
gripper_activity_action:
|
| 453 |
+
names:
|
| 454 |
+
- left_gripper_activity
|
| 455 |
+
- right_gripper_activity
|
| 456 |
+
dtype: int32
|
| 457 |
+
shape:
|
| 458 |
+
- 2
|
| 459 |
+
authors:
|
| 460 |
+
contributed_by:
|
| 461 |
+
- name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
|
| 462 |
+
dataset_description: This dataset uses an extended format based on LeRobot and is
|
| 463 |
+
fully compatible with LeRobot.
|
| 464 |
+
homepage: https://flagopen.github.io/RoboCOIN/
|
| 465 |
+
paper: https://arxiv.org/abs/2511.17441
|
| 466 |
+
repository: https://github.com/FlagOpen/RoboCOIN
|
| 467 |
+
contact_info: For questions, issues, or feedback regarding this dataset, please contact
|
| 468 |
+
us.
|
| 469 |
+
support_info: For technical support, please open an issue on our GitHub repository.
|
| 470 |
+
license_details: apache-2.0
|
| 471 |
+
citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\
|
| 472 |
+
\ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\
|
| 473 |
+
\ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
|
| 474 |
+
\ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
|
| 475 |
+
\ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
|
| 476 |
+
\ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
|
| 477 |
+
\ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
|
| 478 |
+
\ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
|
| 479 |
+
\ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
|
| 480 |
+
\ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
|
| 481 |
+
\ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
|
| 482 |
+
\ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
|
| 483 |
+
\ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
|
| 484 |
+
\ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
|
| 485 |
+
\ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\
|
| 486 |
+
\ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n"
|
| 487 |
+
additional_citations: 'If you use this dataset, please also consider citing:
|
| 488 |
+
|
| 489 |
+
LeRobot Framework: https://github.com/huggingface/lerobot
|
| 490 |
+
|
| 491 |
+
'
|
| 492 |
+
version_info: Initial Release
|
| 493 |
+
data_path: data/chunk-{id}/episode_{id}.parquet
|
| 494 |
+
video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
|
| 495 |
+
video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4
|
dataset_info/Galbot_G1_hang_clothes_1.yaml
ADDED
|
@@ -0,0 +1,494 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
| 1 |
+
task_categories:
|
| 2 |
+
- robotics
|
| 3 |
+
language:
|
| 4 |
+
- en
|
| 5 |
+
tags:
|
| 6 |
+
- RoboCOIN
|
| 7 |
+
- LeRobot
|
| 8 |
+
license: apache-2.0
|
| 9 |
+
configs:
|
| 10 |
+
- config_name: default
|
| 11 |
+
data_files: data/chunk-{id}/episode_{id}.parquet
|
| 12 |
+
extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
|
| 13 |
+
in your research/publications—see the "Citation" section for details. You agree
|
| 14 |
+
to not use the dataset to conduct experiments that cause harm to human subjects.
|
| 15 |
+
extra_gated_fields:
|
| 16 |
+
Company/Organization:
|
| 17 |
+
type: text
|
| 18 |
+
description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
|
| 19 |
+
Country:
|
| 20 |
+
type: country
|
| 21 |
+
description: e.g., "Germany", "China", "United States"
|
| 22 |
+
codebase_version: v2.1
|
| 23 |
+
dataset_name: Galbot_G1_hang_clothes_1
|
| 24 |
+
dataset_uuid: 5209e4d2-b693-45c7-a537-a115c4bc1e5f
|
| 25 |
+
scene_type:
|
| 26 |
+
level1: Household
|
| 27 |
+
level2: Balcony
|
| 28 |
+
level3: null
|
| 29 |
+
level4: null
|
| 30 |
+
level5: null
|
| 31 |
+
env_type: real_world
|
| 32 |
+
objects:
|
| 33 |
+
- id: sofa
|
| 34 |
+
name: sofa
|
| 35 |
+
color: gray
|
| 36 |
+
anchor_policy: static
|
| 37 |
+
- id: clothes
|
| 38 |
+
name: clothes
|
| 39 |
+
color: blue
|
| 40 |
+
anchor_policy: static
|
| 41 |
+
- id: clothes_hanger
|
| 42 |
+
name: clothes hanger
|
| 43 |
+
color: brown
|
| 44 |
+
anchor_policy: static
|
| 45 |
+
task_operation_type: fixed_dual_arm
|
| 46 |
+
task_instruction: Pick up the clothes from the sofa and hang them on the clothes hanger.
|
| 47 |
+
sub_tasks:
|
| 48 |
+
- Pick up the clothes from the sofa and hang them on the clothes hanger.
|
| 49 |
+
atomic_actions:
|
| 50 |
+
- grasp
|
| 51 |
+
- hang
|
| 52 |
+
robot_name: Galbot_G1
|
| 53 |
+
end_effector_type: two_finger_end_effector
|
| 54 |
+
tele_type: master_arm
|
| 55 |
+
sensor_list:
|
| 56 |
+
- cam_right_head_rgb
|
| 57 |
+
- cam_left_head_rgb
|
| 58 |
+
- cam_right_wrist_rgb
|
| 59 |
+
- cam_left_wrist_rgb
|
| 60 |
+
came_info:
|
| 61 |
+
cam_right_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 62 |
+
pix_fmt=yuv420p
|
| 63 |
+
cam_left_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 64 |
+
pix_fmt=yuv420p
|
| 65 |
+
cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 66 |
+
pix_fmt=yuv420p
|
| 67 |
+
cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 68 |
+
pix_fmt=yuv420p
|
| 69 |
+
depth_enabled: false
|
| 70 |
+
coordinate_definition: right-hand-frame
|
| 71 |
+
joint_rotation_dim: radian
|
| 72 |
+
end_rotation_dim: radian
|
| 73 |
+
end_translation_dim: meter
|
| 74 |
+
annotations:
|
| 75 |
+
- eef_acc_mag_annotation.jsonl
|
| 76 |
+
- eef_direction_annotation.jsonl
|
| 77 |
+
- eef_velocity_annotation.jsonl
|
| 78 |
+
- gripper_activity_annotation.jsonl
|
| 79 |
+
- gripper_mode_annotation.jsonl
|
| 80 |
+
statistics:
|
| 81 |
+
total_episodes: 43
|
| 82 |
+
total_frames: 87887
|
| 83 |
+
fps: 30
|
| 84 |
+
total_tasks: 1
|
| 85 |
+
total_videos: 172
|
| 86 |
+
total_chunks: 1
|
| 87 |
+
chunks_size: 10000
|
| 88 |
+
state_dim: 31
|
| 89 |
+
action_dim: 31
|
| 90 |
+
camera_views: 4
|
| 91 |
+
dataset_size: 2.99 GB
|
| 92 |
+
frame_num: 87887
|
| 93 |
+
frame_range: 100K
|
| 94 |
+
dataset_size: 2.99 GB
|
| 95 |
+
data_structure: 'Galbot_G1_hang_clothes_1_qced_hardlink/
|
| 96 |
+
|
| 97 |
+
|-- annotations
|
| 98 |
+
|
| 99 |
+
| |-- eef_acc_mag_annotation.jsonl
|
| 100 |
+
|
| 101 |
+
| |-- eef_direction_annotation.jsonl
|
| 102 |
+
|
| 103 |
+
| |-- eef_velocity_annotation.jsonl
|
| 104 |
+
|
| 105 |
+
| |-- gripper_activity_annotation.jsonl
|
| 106 |
+
|
| 107 |
+
| `-- gripper_mode_annotation.jsonl
|
| 108 |
+
|
| 109 |
+
|-- data
|
| 110 |
+
|
| 111 |
+
| `-- chunk-000
|
| 112 |
+
|
| 113 |
+
| |-- episode_000000.parquet
|
| 114 |
+
|
| 115 |
+
| |-- episode_000001.parquet
|
| 116 |
+
|
| 117 |
+
| |-- episode_000002.parquet
|
| 118 |
+
|
| 119 |
+
| |-- episode_000003.parquet
|
| 120 |
+
|
| 121 |
+
| |-- episode_000004.parquet
|
| 122 |
+
|
| 123 |
+
| |-- episode_000005.parquet
|
| 124 |
+
|
| 125 |
+
| |-- episode_000006.parquet
|
| 126 |
+
|
| 127 |
+
| |-- episode_000007.parquet
|
| 128 |
+
|
| 129 |
+
| |-- episode_000008.parquet
|
| 130 |
+
|
| 131 |
+
| |-- episode_000009.parquet
|
| 132 |
+
|
| 133 |
+
| |-- episode_000010.parquet
|
| 134 |
+
|
| 135 |
+
| `-- episode_000011.parquet
|
| 136 |
+
|
| 137 |
+
| `-- ... (31 more entries)
|
| 138 |
+
|
| 139 |
+
|-- meta
|
| 140 |
+
|
| 141 |
+
| |-- episodes.jsonl
|
| 142 |
+
|
| 143 |
+
| |-- episodes_stats.jsonl
|
| 144 |
+
|
| 145 |
+
| |-- info.json
|
| 146 |
+
|
| 147 |
+
| `-- tasks.jsonl
|
| 148 |
+
|
| 149 |
+
|-- videos
|
| 150 |
+
|
| 151 |
+
| `-- chunk-000
|
| 152 |
+
|
| 153 |
+
| |-- observation.images.cam_left_head_rgb
|
| 154 |
+
|
| 155 |
+
| |-- observation.images.cam_left_wrist_rgb
|
| 156 |
+
|
| 157 |
+
| |-- observation.images.cam_right_head_rgb
|
| 158 |
+
|
| 159 |
+
| `-- observation.images.cam_right_wrist_rgb
|
| 160 |
+
|
| 161 |
+
|-- info.yaml
|
| 162 |
+
|
| 163 |
+
`-- README.md'
|
| 164 |
+
splits:
|
| 165 |
+
train: 0:42
|
| 166 |
+
features:
|
| 167 |
+
action:
|
| 168 |
+
dtype: float32
|
| 169 |
+
names:
|
| 170 |
+
- right_arm_joint_1_rad
|
| 171 |
+
- right_arm_joint_2_rad
|
| 172 |
+
- right_arm_joint_3_rad
|
| 173 |
+
- right_arm_joint_4_rad
|
| 174 |
+
- right_arm_joint_5_rad
|
| 175 |
+
- right_arm_joint_6_rad
|
| 176 |
+
- right_arm_joint_7_rad
|
| 177 |
+
- right_gripper_open
|
| 178 |
+
- left_arm_joint_1_rad
|
| 179 |
+
- left_arm_joint_2_rad
|
| 180 |
+
- left_arm_joint_3_rad
|
| 181 |
+
- left_arm_joint_4_rad
|
| 182 |
+
- left_arm_joint_5_rad
|
| 183 |
+
- left_arm_joint_6_rad
|
| 184 |
+
- left_arm_joint_7_rad
|
| 185 |
+
- left_gripper_open
|
| 186 |
+
- torso_joint_1_rad
|
| 187 |
+
- torso_joint_2_rad
|
| 188 |
+
- torso_joint_3_rad
|
| 189 |
+
- torso_joint_4_rad
|
| 190 |
+
- torso_joint_5_rad
|
| 191 |
+
- head_joint_1_rad
|
| 192 |
+
- head_joint_2_rad
|
| 193 |
+
- chassis_pos_1
|
| 194 |
+
- chassis_pos_2
|
| 195 |
+
- chassis_pos_3
|
| 196 |
+
- chassis_pos_4
|
| 197 |
+
- chassis_vel_1
|
| 198 |
+
- chassis_vel_2
|
| 199 |
+
- chassis_vel_3
|
| 200 |
+
- chassis_vel_4
|
| 201 |
+
shape:
|
| 202 |
+
- 31
|
| 203 |
+
observation.state:
|
| 204 |
+
dtype: float32
|
| 205 |
+
names:
|
| 206 |
+
- right_arm_joint_1_rad
|
| 207 |
+
- right_arm_joint_2_rad
|
| 208 |
+
- right_arm_joint_3_rad
|
| 209 |
+
- right_arm_joint_4_rad
|
| 210 |
+
- right_arm_joint_5_rad
|
| 211 |
+
- right_arm_joint_6_rad
|
| 212 |
+
- right_arm_joint_7_rad
|
| 213 |
+
- right_gripper_open
|
| 214 |
+
- left_arm_joint_1_rad
|
| 215 |
+
- left_arm_joint_2_rad
|
| 216 |
+
- left_arm_joint_3_rad
|
| 217 |
+
- left_arm_joint_4_rad
|
| 218 |
+
- left_arm_joint_5_rad
|
| 219 |
+
- left_arm_joint_6_rad
|
| 220 |
+
- left_arm_joint_7_rad
|
| 221 |
+
- left_gripper_open
|
| 222 |
+
- torso_joint_1_rad
|
| 223 |
+
- torso_joint_2_rad
|
| 224 |
+
- torso_joint_3_rad
|
| 225 |
+
- torso_joint_4_rad
|
| 226 |
+
- torso_joint_5_rad
|
| 227 |
+
- head_joint_1_rad
|
| 228 |
+
- head_joint_2_rad
|
| 229 |
+
- chassis_pos_1
|
| 230 |
+
- chassis_pos_2
|
| 231 |
+
- chassis_pos_3
|
| 232 |
+
- chassis_pos_4
|
| 233 |
+
- chassis_vel_1
|
| 234 |
+
- chassis_vel_2
|
| 235 |
+
- chassis_vel_3
|
| 236 |
+
- chassis_vel_4
|
| 237 |
+
shape:
|
| 238 |
+
- 31
|
| 239 |
+
observation.images.cam_right_head_rgb:
|
| 240 |
+
dtype: video
|
| 241 |
+
shape:
|
| 242 |
+
- 480
|
| 243 |
+
- 640
|
| 244 |
+
- 3
|
| 245 |
+
names:
|
| 246 |
+
- height
|
| 247 |
+
- width
|
| 248 |
+
- channels
|
| 249 |
+
info:
|
| 250 |
+
video.fps: 30
|
| 251 |
+
video.height: 480
|
| 252 |
+
video.width: 640
|
| 253 |
+
video.channels: 3
|
| 254 |
+
video.codec: libx264
|
| 255 |
+
video.pix_fmt: yuv420p
|
| 256 |
+
video.is_depth_map: false
|
| 257 |
+
has_audio: false
|
| 258 |
+
observation.images.cam_left_head_rgb:
|
| 259 |
+
dtype: video
|
| 260 |
+
shape:
|
| 261 |
+
- 480
|
| 262 |
+
- 640
|
| 263 |
+
- 3
|
| 264 |
+
names:
|
| 265 |
+
- height
|
| 266 |
+
- width
|
| 267 |
+
- channels
|
| 268 |
+
info:
|
| 269 |
+
video.fps: 30
|
| 270 |
+
video.height: 480
|
| 271 |
+
video.width: 640
|
| 272 |
+
video.channels: 3
|
| 273 |
+
video.codec: libx264
|
| 274 |
+
video.pix_fmt: yuv420p
|
| 275 |
+
video.is_depth_map: false
|
| 276 |
+
has_audio: false
|
| 277 |
+
observation.images.cam_right_wrist_rgb:
|
| 278 |
+
dtype: video
|
| 279 |
+
shape:
|
| 280 |
+
- 480
|
| 281 |
+
- 640
|
| 282 |
+
- 3
|
| 283 |
+
names:
|
| 284 |
+
- height
|
| 285 |
+
- width
|
| 286 |
+
- channels
|
| 287 |
+
info:
|
| 288 |
+
video.fps: 30
|
| 289 |
+
video.height: 480
|
| 290 |
+
video.width: 640
|
| 291 |
+
video.channels: 3
|
| 292 |
+
video.codec: libx264
|
| 293 |
+
video.pix_fmt: yuv420p
|
| 294 |
+
video.is_depth_map: false
|
| 295 |
+
has_audio: false
|
| 296 |
+
observation.images.cam_left_wrist_rgb:
|
| 297 |
+
dtype: video
|
| 298 |
+
shape:
|
| 299 |
+
- 480
|
| 300 |
+
- 640
|
| 301 |
+
- 3
|
| 302 |
+
names:
|
| 303 |
+
- height
|
| 304 |
+
- width
|
| 305 |
+
- channels
|
| 306 |
+
info:
|
| 307 |
+
video.fps: 30
|
| 308 |
+
video.height: 480
|
| 309 |
+
video.width: 640
|
| 310 |
+
video.channels: 3
|
| 311 |
+
video.codec: libx264
|
| 312 |
+
video.pix_fmt: yuv420p
|
| 313 |
+
video.is_depth_map: false
|
| 314 |
+
has_audio: false
|
| 315 |
+
timestamp:
|
| 316 |
+
dtype: float32
|
| 317 |
+
shape:
|
| 318 |
+
- 1
|
| 319 |
+
names: null
|
| 320 |
+
frame_index:
|
| 321 |
+
dtype: int64
|
| 322 |
+
shape:
|
| 323 |
+
- 1
|
| 324 |
+
names: null
|
| 325 |
+
episode_index:
|
| 326 |
+
dtype: int64
|
| 327 |
+
shape:
|
| 328 |
+
- 1
|
| 329 |
+
names: null
|
| 330 |
+
index:
|
| 331 |
+
dtype: int64
|
| 332 |
+
shape:
|
| 333 |
+
- 1
|
| 334 |
+
names: null
|
| 335 |
+
task_index:
|
| 336 |
+
dtype: int64
|
| 337 |
+
shape:
|
| 338 |
+
- 1
|
| 339 |
+
names: null
|
| 340 |
+
gripper_open_scale_state:
|
| 341 |
+
names:
|
| 342 |
+
- left_gripper_open_scale
|
| 343 |
+
- right_gripper_open_scale
|
| 344 |
+
dtype: float64
|
| 345 |
+
shape:
|
| 346 |
+
- 2
|
| 347 |
+
gripper_open_scale_action:
|
| 348 |
+
names:
|
| 349 |
+
- left_gripper_open_scale
|
| 350 |
+
- right_gripper_open_scale
|
| 351 |
+
dtype: float64
|
| 352 |
+
shape:
|
| 353 |
+
- 2
|
| 354 |
+
eef_sim_pose_state:
|
| 355 |
+
names:
|
| 356 |
+
- left_eef_pos_x
|
| 357 |
+
- left_eef_pos_y
|
| 358 |
+
- left_eef_pos_z
|
| 359 |
+
- left_eef_rot_x
|
| 360 |
+
- left_eef_rot_y
|
| 361 |
+
- left_eef_rot_z
|
| 362 |
+
- right_eef_pos_x
|
| 363 |
+
- right_eef_pos_y
|
| 364 |
+
- right_eef_pos_z
|
| 365 |
+
- right_eef_rot_x
|
| 366 |
+
- right_eef_rot_y
|
| 367 |
+
- right_eef_rot_z
|
| 368 |
+
dtype: float32
|
| 369 |
+
shape:
|
| 370 |
+
- 12
|
| 371 |
+
eef_sim_pose_action:
|
| 372 |
+
names:
|
| 373 |
+
- left_eef_pos_x
|
| 374 |
+
- left_eef_pos_y
|
| 375 |
+
- left_eef_pos_z
|
| 376 |
+
- left_eef_rot_x
|
| 377 |
+
- left_eef_rot_y
|
| 378 |
+
- left_eef_rot_z
|
| 379 |
+
- right_eef_pos_x
|
| 380 |
+
- right_eef_pos_y
|
| 381 |
+
- right_eef_pos_z
|
| 382 |
+
- right_eef_rot_x
|
| 383 |
+
- right_eef_rot_y
|
| 384 |
+
- right_eef_rot_z
|
| 385 |
+
dtype: float32
|
| 386 |
+
shape:
|
| 387 |
+
- 12
|
| 388 |
+
eef_direction_state:
|
| 389 |
+
names:
|
| 390 |
+
- left_eef_direction
|
| 391 |
+
- right_eef_direction
|
| 392 |
+
dtype: int32
|
| 393 |
+
shape:
|
| 394 |
+
- 2
|
| 395 |
+
eef_direction_action:
|
| 396 |
+
names:
|
| 397 |
+
- left_eef_direction
|
| 398 |
+
- right_eef_direction
|
| 399 |
+
dtype: int32
|
| 400 |
+
shape:
|
| 401 |
+
- 2
|
| 402 |
+
eef_velocity_state:
|
| 403 |
+
names:
|
| 404 |
+
- left_eef_velocity
|
| 405 |
+
- right_eef_velocity
|
| 406 |
+
dtype: int32
|
| 407 |
+
shape:
|
| 408 |
+
- 2
|
| 409 |
+
eef_velocity_action:
|
| 410 |
+
names:
|
| 411 |
+
- left_eef_velocity
|
| 412 |
+
- right_eef_velocity
|
| 413 |
+
dtype: int32
|
| 414 |
+
shape:
|
| 415 |
+
- 2
|
| 416 |
+
eef_acc_mag_state:
|
| 417 |
+
names:
|
| 418 |
+
- left_eef_acc_mag
|
| 419 |
+
- right_eef_acc_mag
|
| 420 |
+
dtype: int32
|
| 421 |
+
shape:
|
| 422 |
+
- 2
|
| 423 |
+
eef_acc_mag_action:
|
| 424 |
+
names:
|
| 425 |
+
- left_eef_acc_mag
|
| 426 |
+
- right_eef_acc_mag
|
| 427 |
+
dtype: int32
|
| 428 |
+
shape:
|
| 429 |
+
- 2
|
| 430 |
+
gripper_mode_state:
|
| 431 |
+
names:
|
| 432 |
+
- left_gripper_mode
|
| 433 |
+
- right_gripper_mode
|
| 434 |
+
dtype: int32
|
| 435 |
+
shape:
|
| 436 |
+
- 2
|
| 437 |
+
gripper_mode_action:
|
| 438 |
+
names:
|
| 439 |
+
- left_gripper_mode
|
| 440 |
+
- right_gripper_mode
|
| 441 |
+
dtype: int32
|
| 442 |
+
shape:
|
| 443 |
+
- 2
|
| 444 |
+
gripper_activity_state:
|
| 445 |
+
names:
|
| 446 |
+
- left_gripper_activity
|
| 447 |
+
- right_gripper_activity
|
| 448 |
+
dtype: int32
|
| 449 |
+
shape:
|
| 450 |
+
- 2
|
| 451 |
+
gripper_activity_action:
|
| 452 |
+
names:
|
| 453 |
+
- left_gripper_activity
|
| 454 |
+
- right_gripper_activity
|
| 455 |
+
dtype: int32
|
| 456 |
+
shape:
|
| 457 |
+
- 2
|
| 458 |
+
authors:
|
| 459 |
+
contributed_by:
|
| 460 |
+
- name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
|
| 461 |
+
dataset_description: This dataset uses an extended format based on LeRobot and is
|
| 462 |
+
fully compatible with LeRobot.
|
| 463 |
+
homepage: https://flagopen.github.io/RoboCOIN/
|
| 464 |
+
paper: https://arxiv.org/abs/2511.17441
|
| 465 |
+
repository: https://github.com/FlagOpen/RoboCOIN
|
| 466 |
+
contact_info: For questions, issues, or feedback regarding this dataset, please contact
|
| 467 |
+
us.
|
| 468 |
+
support_info: For technical support, please open an issue on our GitHub repository.
|
| 469 |
+
license_details: apache-2.0
|
| 470 |
+
citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\
|
| 471 |
+
\ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\
|
| 472 |
+
\ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
|
| 473 |
+
\ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
|
| 474 |
+
\ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
|
| 475 |
+
\ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
|
| 476 |
+
\ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
|
| 477 |
+
\ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
|
| 478 |
+
\ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
|
| 479 |
+
\ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
|
| 480 |
+
\ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
|
| 481 |
+
\ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
|
| 482 |
+
\ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
|
| 483 |
+
\ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
|
| 484 |
+
\ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\
|
| 485 |
+
\ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n"
|
| 486 |
+
additional_citations: 'If you use this dataset, please also consider citing:
|
| 487 |
+
|
| 488 |
+
LeRobot Framework: https://github.com/huggingface/lerobot
|
| 489 |
+
|
| 490 |
+
'
|
| 491 |
+
version_info: Initial Release
|
| 492 |
+
data_path: data/chunk-{id}/episode_{id}.parquet
|
| 493 |
+
video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
|
| 494 |
+
video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4
|
dataset_info/Galbot_G1_hang_clothes_2.yaml
ADDED
|
@@ -0,0 +1,491 @@
|
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|
|
| 1 |
+
task_categories:
|
| 2 |
+
- robotics
|
| 3 |
+
language:
|
| 4 |
+
- en
|
| 5 |
+
tags:
|
| 6 |
+
- RoboCOIN
|
| 7 |
+
- LeRobot
|
| 8 |
+
license: apache-2.0
|
| 9 |
+
configs:
|
| 10 |
+
- config_name: default
|
| 11 |
+
data_files: data/chunk-{id}/episode_{id}.parquet
|
| 12 |
+
extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
|
| 13 |
+
in your research/publications—see the "Citation" section for details. You agree
|
| 14 |
+
to not use the dataset to conduct experiments that cause harm to human subjects.
|
| 15 |
+
extra_gated_fields:
|
| 16 |
+
Company/Organization:
|
| 17 |
+
type: text
|
| 18 |
+
description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
|
| 19 |
+
Country:
|
| 20 |
+
type: country
|
| 21 |
+
description: e.g., "Germany", "China", "United States"
|
| 22 |
+
codebase_version: v2.1
|
| 23 |
+
dataset_name: Galbot_G1_hang_clothes_2
|
| 24 |
+
dataset_uuid: 58e49188-3847-4b10-b3dc-6c0931901dbc
|
| 25 |
+
scene_type:
|
| 26 |
+
level1: Household
|
| 27 |
+
level2: Balcony
|
| 28 |
+
level3: null
|
| 29 |
+
level4: null
|
| 30 |
+
level5: null
|
| 31 |
+
env_type: real_world
|
| 32 |
+
objects:
|
| 33 |
+
- id: clothes_hanger
|
| 34 |
+
name: clothes hanger
|
| 35 |
+
color: brown
|
| 36 |
+
anchor_policy: static
|
| 37 |
+
- id: clothes
|
| 38 |
+
name: clothes
|
| 39 |
+
color: gray
|
| 40 |
+
anchor_policy: static
|
| 41 |
+
task_operation_type: mobile_single_arm
|
| 42 |
+
task_instruction: Pick up the garment and hang it on the hanger.
|
| 43 |
+
sub_tasks:
|
| 44 |
+
- Pick up the garment and hang it on the hanger.
|
| 45 |
+
atomic_actions:
|
| 46 |
+
- move
|
| 47 |
+
- grasp
|
| 48 |
+
- hang
|
| 49 |
+
robot_name: Galbot_G1
|
| 50 |
+
end_effector_type: two_finger_end_effector
|
| 51 |
+
tele_type: master_arm
|
| 52 |
+
sensor_list:
|
| 53 |
+
- cam_right_head_rgb
|
| 54 |
+
- cam_left_head_rgb
|
| 55 |
+
- cam_right_wrist_rgb
|
| 56 |
+
- cam_left_wrist_rgb
|
| 57 |
+
came_info:
|
| 58 |
+
cam_right_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 59 |
+
pix_fmt=yuv420p
|
| 60 |
+
cam_left_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 61 |
+
pix_fmt=yuv420p
|
| 62 |
+
cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 63 |
+
pix_fmt=yuv420p
|
| 64 |
+
cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 65 |
+
pix_fmt=yuv420p
|
| 66 |
+
depth_enabled: false
|
| 67 |
+
coordinate_definition: right-hand-frame
|
| 68 |
+
joint_rotation_dim: radian
|
| 69 |
+
end_rotation_dim: radian
|
| 70 |
+
end_translation_dim: meter
|
| 71 |
+
annotations:
|
| 72 |
+
- eef_acc_mag_annotation.jsonl
|
| 73 |
+
- eef_direction_annotation.jsonl
|
| 74 |
+
- eef_velocity_annotation.jsonl
|
| 75 |
+
- gripper_activity_annotation.jsonl
|
| 76 |
+
- gripper_mode_annotation.jsonl
|
| 77 |
+
statistics:
|
| 78 |
+
total_episodes: 200
|
| 79 |
+
total_frames: 140773
|
| 80 |
+
fps: 30
|
| 81 |
+
total_tasks: 1
|
| 82 |
+
total_videos: 800
|
| 83 |
+
total_chunks: 1
|
| 84 |
+
chunks_size: 10000
|
| 85 |
+
state_dim: 31
|
| 86 |
+
action_dim: 31
|
| 87 |
+
camera_views: 4
|
| 88 |
+
dataset_size: 5.79 GB
|
| 89 |
+
frame_num: 140773
|
| 90 |
+
frame_range: 1M
|
| 91 |
+
dataset_size: 5.79 GB
|
| 92 |
+
data_structure: 'Galbot_G1_hang_clothes_2_qced_hardlink/
|
| 93 |
+
|
| 94 |
+
|-- annotations
|
| 95 |
+
|
| 96 |
+
| |-- eef_acc_mag_annotation.jsonl
|
| 97 |
+
|
| 98 |
+
| |-- eef_direction_annotation.jsonl
|
| 99 |
+
|
| 100 |
+
| |-- eef_velocity_annotation.jsonl
|
| 101 |
+
|
| 102 |
+
| |-- gripper_activity_annotation.jsonl
|
| 103 |
+
|
| 104 |
+
| `-- gripper_mode_annotation.jsonl
|
| 105 |
+
|
| 106 |
+
|-- data
|
| 107 |
+
|
| 108 |
+
| `-- chunk-000
|
| 109 |
+
|
| 110 |
+
| |-- episode_000000.parquet
|
| 111 |
+
|
| 112 |
+
| |-- episode_000001.parquet
|
| 113 |
+
|
| 114 |
+
| |-- episode_000002.parquet
|
| 115 |
+
|
| 116 |
+
| |-- episode_000003.parquet
|
| 117 |
+
|
| 118 |
+
| |-- episode_000004.parquet
|
| 119 |
+
|
| 120 |
+
| |-- episode_000005.parquet
|
| 121 |
+
|
| 122 |
+
| |-- episode_000006.parquet
|
| 123 |
+
|
| 124 |
+
| |-- episode_000007.parquet
|
| 125 |
+
|
| 126 |
+
| |-- episode_000008.parquet
|
| 127 |
+
|
| 128 |
+
| |-- episode_000009.parquet
|
| 129 |
+
|
| 130 |
+
| |-- episode_000010.parquet
|
| 131 |
+
|
| 132 |
+
| `-- episode_000011.parquet
|
| 133 |
+
|
| 134 |
+
| `-- ... (188 more entries)
|
| 135 |
+
|
| 136 |
+
|-- meta
|
| 137 |
+
|
| 138 |
+
| |-- episodes.jsonl
|
| 139 |
+
|
| 140 |
+
| |-- episodes_stats.jsonl
|
| 141 |
+
|
| 142 |
+
| |-- info.json
|
| 143 |
+
|
| 144 |
+
| `-- tasks.jsonl
|
| 145 |
+
|
| 146 |
+
|-- videos
|
| 147 |
+
|
| 148 |
+
| `-- chunk-000
|
| 149 |
+
|
| 150 |
+
| |-- observation.images.cam_left_head_rgb
|
| 151 |
+
|
| 152 |
+
| |-- observation.images.cam_left_wrist_rgb
|
| 153 |
+
|
| 154 |
+
| |-- observation.images.cam_right_head_rgb
|
| 155 |
+
|
| 156 |
+
| `-- observation.images.cam_right_wrist_rgb
|
| 157 |
+
|
| 158 |
+
|-- info.yaml
|
| 159 |
+
|
| 160 |
+
`-- README.md'
|
| 161 |
+
splits:
|
| 162 |
+
train: 0:199
|
| 163 |
+
features:
|
| 164 |
+
action:
|
| 165 |
+
dtype: float32
|
| 166 |
+
names:
|
| 167 |
+
- right_arm_joint_1_rad
|
| 168 |
+
- right_arm_joint_2_rad
|
| 169 |
+
- right_arm_joint_3_rad
|
| 170 |
+
- right_arm_joint_4_rad
|
| 171 |
+
- right_arm_joint_5_rad
|
| 172 |
+
- right_arm_joint_6_rad
|
| 173 |
+
- right_arm_joint_7_rad
|
| 174 |
+
- right_gripper_open
|
| 175 |
+
- left_arm_joint_1_rad
|
| 176 |
+
- left_arm_joint_2_rad
|
| 177 |
+
- left_arm_joint_3_rad
|
| 178 |
+
- left_arm_joint_4_rad
|
| 179 |
+
- left_arm_joint_5_rad
|
| 180 |
+
- left_arm_joint_6_rad
|
| 181 |
+
- left_arm_joint_7_rad
|
| 182 |
+
- left_gripper_open
|
| 183 |
+
- torso_joint_1_rad
|
| 184 |
+
- torso_joint_2_rad
|
| 185 |
+
- torso_joint_3_rad
|
| 186 |
+
- torso_joint_4_rad
|
| 187 |
+
- torso_joint_5_rad
|
| 188 |
+
- head_joint_1_rad
|
| 189 |
+
- head_joint_2_rad
|
| 190 |
+
- chassis_pos_1
|
| 191 |
+
- chassis_pos_2
|
| 192 |
+
- chassis_pos_3
|
| 193 |
+
- chassis_pos_4
|
| 194 |
+
- chassis_vel_1
|
| 195 |
+
- chassis_vel_2
|
| 196 |
+
- chassis_vel_3
|
| 197 |
+
- chassis_vel_4
|
| 198 |
+
shape:
|
| 199 |
+
- 31
|
| 200 |
+
observation.state:
|
| 201 |
+
dtype: float32
|
| 202 |
+
names:
|
| 203 |
+
- right_arm_joint_1_rad
|
| 204 |
+
- right_arm_joint_2_rad
|
| 205 |
+
- right_arm_joint_3_rad
|
| 206 |
+
- right_arm_joint_4_rad
|
| 207 |
+
- right_arm_joint_5_rad
|
| 208 |
+
- right_arm_joint_6_rad
|
| 209 |
+
- right_arm_joint_7_rad
|
| 210 |
+
- right_gripper_open
|
| 211 |
+
- left_arm_joint_1_rad
|
| 212 |
+
- left_arm_joint_2_rad
|
| 213 |
+
- left_arm_joint_3_rad
|
| 214 |
+
- left_arm_joint_4_rad
|
| 215 |
+
- left_arm_joint_5_rad
|
| 216 |
+
- left_arm_joint_6_rad
|
| 217 |
+
- left_arm_joint_7_rad
|
| 218 |
+
- left_gripper_open
|
| 219 |
+
- torso_joint_1_rad
|
| 220 |
+
- torso_joint_2_rad
|
| 221 |
+
- torso_joint_3_rad
|
| 222 |
+
- torso_joint_4_rad
|
| 223 |
+
- torso_joint_5_rad
|
| 224 |
+
- head_joint_1_rad
|
| 225 |
+
- head_joint_2_rad
|
| 226 |
+
- chassis_pos_1
|
| 227 |
+
- chassis_pos_2
|
| 228 |
+
- chassis_pos_3
|
| 229 |
+
- chassis_pos_4
|
| 230 |
+
- chassis_vel_1
|
| 231 |
+
- chassis_vel_2
|
| 232 |
+
- chassis_vel_3
|
| 233 |
+
- chassis_vel_4
|
| 234 |
+
shape:
|
| 235 |
+
- 31
|
| 236 |
+
observation.images.cam_right_head_rgb:
|
| 237 |
+
dtype: video
|
| 238 |
+
shape:
|
| 239 |
+
- 480
|
| 240 |
+
- 640
|
| 241 |
+
- 3
|
| 242 |
+
names:
|
| 243 |
+
- height
|
| 244 |
+
- width
|
| 245 |
+
- channels
|
| 246 |
+
info:
|
| 247 |
+
video.fps: 30
|
| 248 |
+
video.height: 480
|
| 249 |
+
video.width: 640
|
| 250 |
+
video.channels: 3
|
| 251 |
+
video.codec: libx264
|
| 252 |
+
video.pix_fmt: yuv420p
|
| 253 |
+
video.is_depth_map: false
|
| 254 |
+
has_audio: false
|
| 255 |
+
observation.images.cam_left_head_rgb:
|
| 256 |
+
dtype: video
|
| 257 |
+
shape:
|
| 258 |
+
- 480
|
| 259 |
+
- 640
|
| 260 |
+
- 3
|
| 261 |
+
names:
|
| 262 |
+
- height
|
| 263 |
+
- width
|
| 264 |
+
- channels
|
| 265 |
+
info:
|
| 266 |
+
video.fps: 30
|
| 267 |
+
video.height: 480
|
| 268 |
+
video.width: 640
|
| 269 |
+
video.channels: 3
|
| 270 |
+
video.codec: libx264
|
| 271 |
+
video.pix_fmt: yuv420p
|
| 272 |
+
video.is_depth_map: false
|
| 273 |
+
has_audio: false
|
| 274 |
+
observation.images.cam_right_wrist_rgb:
|
| 275 |
+
dtype: video
|
| 276 |
+
shape:
|
| 277 |
+
- 480
|
| 278 |
+
- 640
|
| 279 |
+
- 3
|
| 280 |
+
names:
|
| 281 |
+
- height
|
| 282 |
+
- width
|
| 283 |
+
- channels
|
| 284 |
+
info:
|
| 285 |
+
video.fps: 30
|
| 286 |
+
video.height: 480
|
| 287 |
+
video.width: 640
|
| 288 |
+
video.channels: 3
|
| 289 |
+
video.codec: libx264
|
| 290 |
+
video.pix_fmt: yuv420p
|
| 291 |
+
video.is_depth_map: false
|
| 292 |
+
has_audio: false
|
| 293 |
+
observation.images.cam_left_wrist_rgb:
|
| 294 |
+
dtype: video
|
| 295 |
+
shape:
|
| 296 |
+
- 480
|
| 297 |
+
- 640
|
| 298 |
+
- 3
|
| 299 |
+
names:
|
| 300 |
+
- height
|
| 301 |
+
- width
|
| 302 |
+
- channels
|
| 303 |
+
info:
|
| 304 |
+
video.fps: 30
|
| 305 |
+
video.height: 480
|
| 306 |
+
video.width: 640
|
| 307 |
+
video.channels: 3
|
| 308 |
+
video.codec: libx264
|
| 309 |
+
video.pix_fmt: yuv420p
|
| 310 |
+
video.is_depth_map: false
|
| 311 |
+
has_audio: false
|
| 312 |
+
timestamp:
|
| 313 |
+
dtype: float32
|
| 314 |
+
shape:
|
| 315 |
+
- 1
|
| 316 |
+
names: null
|
| 317 |
+
frame_index:
|
| 318 |
+
dtype: int64
|
| 319 |
+
shape:
|
| 320 |
+
- 1
|
| 321 |
+
names: null
|
| 322 |
+
episode_index:
|
| 323 |
+
dtype: int64
|
| 324 |
+
shape:
|
| 325 |
+
- 1
|
| 326 |
+
names: null
|
| 327 |
+
index:
|
| 328 |
+
dtype: int64
|
| 329 |
+
shape:
|
| 330 |
+
- 1
|
| 331 |
+
names: null
|
| 332 |
+
task_index:
|
| 333 |
+
dtype: int64
|
| 334 |
+
shape:
|
| 335 |
+
- 1
|
| 336 |
+
names: null
|
| 337 |
+
gripper_open_scale_state:
|
| 338 |
+
names:
|
| 339 |
+
- left_gripper_open_scale
|
| 340 |
+
- right_gripper_open_scale
|
| 341 |
+
dtype: float64
|
| 342 |
+
shape:
|
| 343 |
+
- 2
|
| 344 |
+
gripper_open_scale_action:
|
| 345 |
+
names:
|
| 346 |
+
- left_gripper_open_scale
|
| 347 |
+
- right_gripper_open_scale
|
| 348 |
+
dtype: float64
|
| 349 |
+
shape:
|
| 350 |
+
- 2
|
| 351 |
+
eef_sim_pose_state:
|
| 352 |
+
names:
|
| 353 |
+
- left_eef_pos_x
|
| 354 |
+
- left_eef_pos_y
|
| 355 |
+
- left_eef_pos_z
|
| 356 |
+
- left_eef_rot_x
|
| 357 |
+
- left_eef_rot_y
|
| 358 |
+
- left_eef_rot_z
|
| 359 |
+
- right_eef_pos_x
|
| 360 |
+
- right_eef_pos_y
|
| 361 |
+
- right_eef_pos_z
|
| 362 |
+
- right_eef_rot_x
|
| 363 |
+
- right_eef_rot_y
|
| 364 |
+
- right_eef_rot_z
|
| 365 |
+
dtype: float32
|
| 366 |
+
shape:
|
| 367 |
+
- 12
|
| 368 |
+
eef_sim_pose_action:
|
| 369 |
+
names:
|
| 370 |
+
- left_eef_pos_x
|
| 371 |
+
- left_eef_pos_y
|
| 372 |
+
- left_eef_pos_z
|
| 373 |
+
- left_eef_rot_x
|
| 374 |
+
- left_eef_rot_y
|
| 375 |
+
- left_eef_rot_z
|
| 376 |
+
- right_eef_pos_x
|
| 377 |
+
- right_eef_pos_y
|
| 378 |
+
- right_eef_pos_z
|
| 379 |
+
- right_eef_rot_x
|
| 380 |
+
- right_eef_rot_y
|
| 381 |
+
- right_eef_rot_z
|
| 382 |
+
dtype: float32
|
| 383 |
+
shape:
|
| 384 |
+
- 12
|
| 385 |
+
eef_direction_state:
|
| 386 |
+
names:
|
| 387 |
+
- left_eef_direction
|
| 388 |
+
- right_eef_direction
|
| 389 |
+
dtype: int32
|
| 390 |
+
shape:
|
| 391 |
+
- 2
|
| 392 |
+
eef_direction_action:
|
| 393 |
+
names:
|
| 394 |
+
- left_eef_direction
|
| 395 |
+
- right_eef_direction
|
| 396 |
+
dtype: int32
|
| 397 |
+
shape:
|
| 398 |
+
- 2
|
| 399 |
+
eef_velocity_state:
|
| 400 |
+
names:
|
| 401 |
+
- left_eef_velocity
|
| 402 |
+
- right_eef_velocity
|
| 403 |
+
dtype: int32
|
| 404 |
+
shape:
|
| 405 |
+
- 2
|
| 406 |
+
eef_velocity_action:
|
| 407 |
+
names:
|
| 408 |
+
- left_eef_velocity
|
| 409 |
+
- right_eef_velocity
|
| 410 |
+
dtype: int32
|
| 411 |
+
shape:
|
| 412 |
+
- 2
|
| 413 |
+
eef_acc_mag_state:
|
| 414 |
+
names:
|
| 415 |
+
- left_eef_acc_mag
|
| 416 |
+
- right_eef_acc_mag
|
| 417 |
+
dtype: int32
|
| 418 |
+
shape:
|
| 419 |
+
- 2
|
| 420 |
+
eef_acc_mag_action:
|
| 421 |
+
names:
|
| 422 |
+
- left_eef_acc_mag
|
| 423 |
+
- right_eef_acc_mag
|
| 424 |
+
dtype: int32
|
| 425 |
+
shape:
|
| 426 |
+
- 2
|
| 427 |
+
gripper_mode_state:
|
| 428 |
+
names:
|
| 429 |
+
- left_gripper_mode
|
| 430 |
+
- right_gripper_mode
|
| 431 |
+
dtype: int32
|
| 432 |
+
shape:
|
| 433 |
+
- 2
|
| 434 |
+
gripper_mode_action:
|
| 435 |
+
names:
|
| 436 |
+
- left_gripper_mode
|
| 437 |
+
- right_gripper_mode
|
| 438 |
+
dtype: int32
|
| 439 |
+
shape:
|
| 440 |
+
- 2
|
| 441 |
+
gripper_activity_state:
|
| 442 |
+
names:
|
| 443 |
+
- left_gripper_activity
|
| 444 |
+
- right_gripper_activity
|
| 445 |
+
dtype: int32
|
| 446 |
+
shape:
|
| 447 |
+
- 2
|
| 448 |
+
gripper_activity_action:
|
| 449 |
+
names:
|
| 450 |
+
- left_gripper_activity
|
| 451 |
+
- right_gripper_activity
|
| 452 |
+
dtype: int32
|
| 453 |
+
shape:
|
| 454 |
+
- 2
|
| 455 |
+
authors:
|
| 456 |
+
contributed_by:
|
| 457 |
+
- name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
|
| 458 |
+
dataset_description: This dataset uses an extended format based on LeRobot and is
|
| 459 |
+
fully compatible with LeRobot.
|
| 460 |
+
homepage: https://flagopen.github.io/RoboCOIN/
|
| 461 |
+
paper: https://arxiv.org/abs/2511.17441
|
| 462 |
+
repository: https://github.com/FlagOpen/RoboCOIN
|
| 463 |
+
contact_info: For questions, issues, or feedback regarding this dataset, please contact
|
| 464 |
+
us.
|
| 465 |
+
support_info: For technical support, please open an issue on our GitHub repository.
|
| 466 |
+
license_details: apache-2.0
|
| 467 |
+
citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\
|
| 468 |
+
\ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\
|
| 469 |
+
\ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
|
| 470 |
+
\ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
|
| 471 |
+
\ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
|
| 472 |
+
\ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
|
| 473 |
+
\ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
|
| 474 |
+
\ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
|
| 475 |
+
\ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
|
| 476 |
+
\ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
|
| 477 |
+
\ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
|
| 478 |
+
\ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
|
| 479 |
+
\ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
|
| 480 |
+
\ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
|
| 481 |
+
\ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\
|
| 482 |
+
\ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n"
|
| 483 |
+
additional_citations: 'If you use this dataset, please also consider citing:
|
| 484 |
+
|
| 485 |
+
LeRobot Framework: https://github.com/huggingface/lerobot
|
| 486 |
+
|
| 487 |
+
'
|
| 488 |
+
version_info: Initial Release
|
| 489 |
+
data_path: data/chunk-{id}/episode_{id}.parquet
|
| 490 |
+
video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
|
| 491 |
+
video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4
|
dataset_info/Galbot_G1_hang_clothes_3.yaml
ADDED
|
@@ -0,0 +1,509 @@
|
|
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|
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|
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|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
| 1 |
+
task_categories:
|
| 2 |
+
- robotics
|
| 3 |
+
language:
|
| 4 |
+
- en
|
| 5 |
+
tags:
|
| 6 |
+
- RoboCOIN
|
| 7 |
+
- LeRobot
|
| 8 |
+
license: apache-2.0
|
| 9 |
+
configs:
|
| 10 |
+
- config_name: default
|
| 11 |
+
data_files: data/chunk-{id}/episode_{id}.parquet
|
| 12 |
+
extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
|
| 13 |
+
in your research/publications—see the "Citation" section for details. You agree
|
| 14 |
+
to not use the dataset to conduct experiments that cause harm to human subjects.
|
| 15 |
+
extra_gated_fields:
|
| 16 |
+
Company/Organization:
|
| 17 |
+
type: text
|
| 18 |
+
description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
|
| 19 |
+
Country:
|
| 20 |
+
type: country
|
| 21 |
+
description: e.g., "Germany", "China", "United States"
|
| 22 |
+
codebase_version: v2.1
|
| 23 |
+
dataset_name: Galbot_G1_hang_clothes_3
|
| 24 |
+
dataset_uuid: 5209e4d2-b693-45c7-a537-a115c4bc1e5f
|
| 25 |
+
scene_type:
|
| 26 |
+
level1: Household
|
| 27 |
+
level2: Balcony
|
| 28 |
+
level3: null
|
| 29 |
+
level4: null
|
| 30 |
+
level5: null
|
| 31 |
+
env_type: real_world
|
| 32 |
+
objects:
|
| 33 |
+
- id: sofa
|
| 34 |
+
name: sofa
|
| 35 |
+
color: gray
|
| 36 |
+
anchor_policy: static
|
| 37 |
+
- id: clothes
|
| 38 |
+
name: clothes
|
| 39 |
+
color: blue
|
| 40 |
+
anchor_policy: static
|
| 41 |
+
- id: clothes_hanger
|
| 42 |
+
name: clothes hanger
|
| 43 |
+
color: brown
|
| 44 |
+
anchor_policy: static
|
| 45 |
+
task_operation_type: fixed_dual_arm
|
| 46 |
+
task_instruction: Pick up the clothes from the sofa and hang them on the clothes hanger.
|
| 47 |
+
sub_tasks:
|
| 48 |
+
- Pick up the clothes from the sofa and hang them on the clothes hanger.
|
| 49 |
+
atomic_actions:
|
| 50 |
+
- grasp
|
| 51 |
+
- hang
|
| 52 |
+
robot_name: Galbot_G1
|
| 53 |
+
end_effector_type: two_finger_end_effector
|
| 54 |
+
tele_type: master_arm
|
| 55 |
+
sensor_list:
|
| 56 |
+
- cam_right_head_rgb
|
| 57 |
+
- cam_left_head_rgb
|
| 58 |
+
- cam_right_wrist_rgb
|
| 59 |
+
- cam_left_wrist_rgb
|
| 60 |
+
came_info:
|
| 61 |
+
cam_right_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 62 |
+
pix_fmt=yuv420p
|
| 63 |
+
cam_left_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 64 |
+
pix_fmt=yuv420p
|
| 65 |
+
cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 66 |
+
pix_fmt=yuv420p
|
| 67 |
+
cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 68 |
+
pix_fmt=yuv420p
|
| 69 |
+
depth_enabled: false
|
| 70 |
+
coordinate_definition: right-hand-frame
|
| 71 |
+
joint_rotation_dim: radian
|
| 72 |
+
end_rotation_dim: radian
|
| 73 |
+
end_translation_dim: meter
|
| 74 |
+
base_translation_dim: meter
|
| 75 |
+
annotations:
|
| 76 |
+
- eef_acc_mag_annotation.jsonl
|
| 77 |
+
- eef_direction_annotation.jsonl
|
| 78 |
+
- eef_velocity_annotation.jsonl
|
| 79 |
+
- gripper_activity_annotation.jsonl
|
| 80 |
+
- gripper_mode_annotation.jsonl
|
| 81 |
+
statistics:
|
| 82 |
+
total_episodes: 193
|
| 83 |
+
total_frames: 358533
|
| 84 |
+
fps: 30
|
| 85 |
+
total_tasks: 1
|
| 86 |
+
total_videos: 772
|
| 87 |
+
total_chunks: 1
|
| 88 |
+
chunks_size: 10000
|
| 89 |
+
state_dim: 38
|
| 90 |
+
action_dim: 38
|
| 91 |
+
camera_views: 4
|
| 92 |
+
dataset_size: 11.80 GB
|
| 93 |
+
frame_num: 358533
|
| 94 |
+
frame_range: 1M
|
| 95 |
+
dataset_size: 11.80 GB
|
| 96 |
+
data_structure: 'Galbot_G1_hang_clothes_3_qced_hardlink/
|
| 97 |
+
|
| 98 |
+
|-- annotations
|
| 99 |
+
|
| 100 |
+
| |-- eef_acc_mag_annotation.jsonl
|
| 101 |
+
|
| 102 |
+
| |-- eef_direction_annotation.jsonl
|
| 103 |
+
|
| 104 |
+
| |-- eef_velocity_annotation.jsonl
|
| 105 |
+
|
| 106 |
+
| |-- gripper_activity_annotation.jsonl
|
| 107 |
+
|
| 108 |
+
| `-- gripper_mode_annotation.jsonl
|
| 109 |
+
|
| 110 |
+
|-- data
|
| 111 |
+
|
| 112 |
+
| `-- chunk-000
|
| 113 |
+
|
| 114 |
+
| |-- episode_000000.parquet
|
| 115 |
+
|
| 116 |
+
| |-- episode_000001.parquet
|
| 117 |
+
|
| 118 |
+
| |-- episode_000002.parquet
|
| 119 |
+
|
| 120 |
+
| |-- episode_000003.parquet
|
| 121 |
+
|
| 122 |
+
| |-- episode_000004.parquet
|
| 123 |
+
|
| 124 |
+
| |-- episode_000005.parquet
|
| 125 |
+
|
| 126 |
+
| |-- episode_000006.parquet
|
| 127 |
+
|
| 128 |
+
| |-- episode_000007.parquet
|
| 129 |
+
|
| 130 |
+
| |-- episode_000008.parquet
|
| 131 |
+
|
| 132 |
+
| |-- episode_000009.parquet
|
| 133 |
+
|
| 134 |
+
| |-- episode_000010.parquet
|
| 135 |
+
|
| 136 |
+
| `-- episode_000011.parquet
|
| 137 |
+
|
| 138 |
+
| `-- ... (181 more entries)
|
| 139 |
+
|
| 140 |
+
|-- meta
|
| 141 |
+
|
| 142 |
+
| |-- episodes.jsonl
|
| 143 |
+
|
| 144 |
+
| |-- episodes_stats.jsonl
|
| 145 |
+
|
| 146 |
+
| |-- info.json
|
| 147 |
+
|
| 148 |
+
| `-- tasks.jsonl
|
| 149 |
+
|
| 150 |
+
|-- videos
|
| 151 |
+
|
| 152 |
+
| `-- chunk-000
|
| 153 |
+
|
| 154 |
+
| |-- observation.images.cam_left_head_rgb
|
| 155 |
+
|
| 156 |
+
| |-- observation.images.cam_left_wrist_rgb
|
| 157 |
+
|
| 158 |
+
| |-- observation.images.cam_right_head_rgb
|
| 159 |
+
|
| 160 |
+
| `-- observation.images.cam_right_wrist_rgb
|
| 161 |
+
|
| 162 |
+
|-- info.yaml
|
| 163 |
+
|
| 164 |
+
`-- README.md'
|
| 165 |
+
splits:
|
| 166 |
+
train: 0:192
|
| 167 |
+
features:
|
| 168 |
+
action:
|
| 169 |
+
dtype: float32
|
| 170 |
+
names:
|
| 171 |
+
- right_arm_joint_1_rad
|
| 172 |
+
- right_arm_joint_2_rad
|
| 173 |
+
- right_arm_joint_3_rad
|
| 174 |
+
- right_arm_joint_4_rad
|
| 175 |
+
- right_arm_joint_5_rad
|
| 176 |
+
- right_arm_joint_6_rad
|
| 177 |
+
- right_arm_joint_7_rad
|
| 178 |
+
- right_gripper_open
|
| 179 |
+
- left_arm_joint_1_rad
|
| 180 |
+
- left_arm_joint_2_rad
|
| 181 |
+
- left_arm_joint_3_rad
|
| 182 |
+
- left_arm_joint_4_rad
|
| 183 |
+
- left_arm_joint_5_rad
|
| 184 |
+
- left_arm_joint_6_rad
|
| 185 |
+
- left_arm_joint_7_rad
|
| 186 |
+
- left_gripper_open
|
| 187 |
+
- torso_joint_1_rad
|
| 188 |
+
- torso_joint_2_rad
|
| 189 |
+
- torso_joint_3_rad
|
| 190 |
+
- torso_joint_4_rad
|
| 191 |
+
- torso_joint_5_rad
|
| 192 |
+
- head_joint_1_rad
|
| 193 |
+
- head_joint_2_rad
|
| 194 |
+
- chassis_pos_1
|
| 195 |
+
- chassis_pos_2
|
| 196 |
+
- chassis_pos_3
|
| 197 |
+
- chassis_pos_4
|
| 198 |
+
- chassis_vel_1
|
| 199 |
+
- chassis_vel_2
|
| 200 |
+
- chassis_vel_3
|
| 201 |
+
- chassis_vel_4
|
| 202 |
+
- base_pos_x_m
|
| 203 |
+
- base_pos_y_m
|
| 204 |
+
- base_orient_quat_z
|
| 205 |
+
- base_orient_quat_w
|
| 206 |
+
- base_vel_x_m_s
|
| 207 |
+
- base_vel_y_m_s
|
| 208 |
+
- base_vel_angular_z_rad_s
|
| 209 |
+
shape:
|
| 210 |
+
- 38
|
| 211 |
+
observation.state:
|
| 212 |
+
dtype: float32
|
| 213 |
+
names:
|
| 214 |
+
- right_arm_joint_1_rad
|
| 215 |
+
- right_arm_joint_2_rad
|
| 216 |
+
- right_arm_joint_3_rad
|
| 217 |
+
- right_arm_joint_4_rad
|
| 218 |
+
- right_arm_joint_5_rad
|
| 219 |
+
- right_arm_joint_6_rad
|
| 220 |
+
- right_arm_joint_7_rad
|
| 221 |
+
- right_gripper_open
|
| 222 |
+
- left_arm_joint_1_rad
|
| 223 |
+
- left_arm_joint_2_rad
|
| 224 |
+
- left_arm_joint_3_rad
|
| 225 |
+
- left_arm_joint_4_rad
|
| 226 |
+
- left_arm_joint_5_rad
|
| 227 |
+
- left_arm_joint_6_rad
|
| 228 |
+
- left_arm_joint_7_rad
|
| 229 |
+
- left_gripper_open
|
| 230 |
+
- torso_joint_1_rad
|
| 231 |
+
- torso_joint_2_rad
|
| 232 |
+
- torso_joint_3_rad
|
| 233 |
+
- torso_joint_4_rad
|
| 234 |
+
- torso_joint_5_rad
|
| 235 |
+
- head_joint_1_rad
|
| 236 |
+
- head_joint_2_rad
|
| 237 |
+
- chassis_pos_1
|
| 238 |
+
- chassis_pos_2
|
| 239 |
+
- chassis_pos_3
|
| 240 |
+
- chassis_pos_4
|
| 241 |
+
- chassis_vel_1
|
| 242 |
+
- chassis_vel_2
|
| 243 |
+
- chassis_vel_3
|
| 244 |
+
- chassis_vel_4
|
| 245 |
+
- base_pos_x_m
|
| 246 |
+
- base_pos_y_m
|
| 247 |
+
- base_orient_quat_z
|
| 248 |
+
- base_orient_quat_w
|
| 249 |
+
- base_vel_x_m_s
|
| 250 |
+
- base_vel_y_m_s
|
| 251 |
+
- base_vel_angular_z_rad_s
|
| 252 |
+
shape:
|
| 253 |
+
- 38
|
| 254 |
+
observation.images.cam_right_head_rgb:
|
| 255 |
+
dtype: video
|
| 256 |
+
shape:
|
| 257 |
+
- 480
|
| 258 |
+
- 640
|
| 259 |
+
- 3
|
| 260 |
+
names:
|
| 261 |
+
- height
|
| 262 |
+
- width
|
| 263 |
+
- channels
|
| 264 |
+
info:
|
| 265 |
+
video.fps: 30
|
| 266 |
+
video.height: 480
|
| 267 |
+
video.width: 640
|
| 268 |
+
video.channels: 3
|
| 269 |
+
video.codec: libx264
|
| 270 |
+
video.pix_fmt: yuv420p
|
| 271 |
+
video.is_depth_map: false
|
| 272 |
+
has_audio: false
|
| 273 |
+
observation.images.cam_left_head_rgb:
|
| 274 |
+
dtype: video
|
| 275 |
+
shape:
|
| 276 |
+
- 480
|
| 277 |
+
- 640
|
| 278 |
+
- 3
|
| 279 |
+
names:
|
| 280 |
+
- height
|
| 281 |
+
- width
|
| 282 |
+
- channels
|
| 283 |
+
info:
|
| 284 |
+
video.fps: 30
|
| 285 |
+
video.height: 480
|
| 286 |
+
video.width: 640
|
| 287 |
+
video.channels: 3
|
| 288 |
+
video.codec: libx264
|
| 289 |
+
video.pix_fmt: yuv420p
|
| 290 |
+
video.is_depth_map: false
|
| 291 |
+
has_audio: false
|
| 292 |
+
observation.images.cam_right_wrist_rgb:
|
| 293 |
+
dtype: video
|
| 294 |
+
shape:
|
| 295 |
+
- 480
|
| 296 |
+
- 640
|
| 297 |
+
- 3
|
| 298 |
+
names:
|
| 299 |
+
- height
|
| 300 |
+
- width
|
| 301 |
+
- channels
|
| 302 |
+
info:
|
| 303 |
+
video.fps: 30
|
| 304 |
+
video.height: 480
|
| 305 |
+
video.width: 640
|
| 306 |
+
video.channels: 3
|
| 307 |
+
video.codec: libx264
|
| 308 |
+
video.pix_fmt: yuv420p
|
| 309 |
+
video.is_depth_map: false
|
| 310 |
+
has_audio: false
|
| 311 |
+
observation.images.cam_left_wrist_rgb:
|
| 312 |
+
dtype: video
|
| 313 |
+
shape:
|
| 314 |
+
- 480
|
| 315 |
+
- 640
|
| 316 |
+
- 3
|
| 317 |
+
names:
|
| 318 |
+
- height
|
| 319 |
+
- width
|
| 320 |
+
- channels
|
| 321 |
+
info:
|
| 322 |
+
video.fps: 30
|
| 323 |
+
video.height: 480
|
| 324 |
+
video.width: 640
|
| 325 |
+
video.channels: 3
|
| 326 |
+
video.codec: libx264
|
| 327 |
+
video.pix_fmt: yuv420p
|
| 328 |
+
video.is_depth_map: false
|
| 329 |
+
has_audio: false
|
| 330 |
+
timestamp:
|
| 331 |
+
dtype: float32
|
| 332 |
+
shape:
|
| 333 |
+
- 1
|
| 334 |
+
names: null
|
| 335 |
+
frame_index:
|
| 336 |
+
dtype: int64
|
| 337 |
+
shape:
|
| 338 |
+
- 1
|
| 339 |
+
names: null
|
| 340 |
+
episode_index:
|
| 341 |
+
dtype: int64
|
| 342 |
+
shape:
|
| 343 |
+
- 1
|
| 344 |
+
names: null
|
| 345 |
+
index:
|
| 346 |
+
dtype: int64
|
| 347 |
+
shape:
|
| 348 |
+
- 1
|
| 349 |
+
names: null
|
| 350 |
+
task_index:
|
| 351 |
+
dtype: int64
|
| 352 |
+
shape:
|
| 353 |
+
- 1
|
| 354 |
+
names: null
|
| 355 |
+
gripper_open_scale_state:
|
| 356 |
+
names:
|
| 357 |
+
- left_gripper_open_scale
|
| 358 |
+
- right_gripper_open_scale
|
| 359 |
+
dtype: float64
|
| 360 |
+
shape:
|
| 361 |
+
- 2
|
| 362 |
+
gripper_open_scale_action:
|
| 363 |
+
names:
|
| 364 |
+
- left_gripper_open_scale
|
| 365 |
+
- right_gripper_open_scale
|
| 366 |
+
dtype: float64
|
| 367 |
+
shape:
|
| 368 |
+
- 2
|
| 369 |
+
eef_sim_pose_state:
|
| 370 |
+
names:
|
| 371 |
+
- left_eef_pos_x
|
| 372 |
+
- left_eef_pos_y
|
| 373 |
+
- left_eef_pos_z
|
| 374 |
+
- left_eef_rot_x
|
| 375 |
+
- left_eef_rot_y
|
| 376 |
+
- left_eef_rot_z
|
| 377 |
+
- right_eef_pos_x
|
| 378 |
+
- right_eef_pos_y
|
| 379 |
+
- right_eef_pos_z
|
| 380 |
+
- right_eef_rot_x
|
| 381 |
+
- right_eef_rot_y
|
| 382 |
+
- right_eef_rot_z
|
| 383 |
+
dtype: float32
|
| 384 |
+
shape:
|
| 385 |
+
- 12
|
| 386 |
+
eef_sim_pose_action:
|
| 387 |
+
names:
|
| 388 |
+
- left_eef_pos_x
|
| 389 |
+
- left_eef_pos_y
|
| 390 |
+
- left_eef_pos_z
|
| 391 |
+
- left_eef_rot_x
|
| 392 |
+
- left_eef_rot_y
|
| 393 |
+
- left_eef_rot_z
|
| 394 |
+
- right_eef_pos_x
|
| 395 |
+
- right_eef_pos_y
|
| 396 |
+
- right_eef_pos_z
|
| 397 |
+
- right_eef_rot_x
|
| 398 |
+
- right_eef_rot_y
|
| 399 |
+
- right_eef_rot_z
|
| 400 |
+
dtype: float32
|
| 401 |
+
shape:
|
| 402 |
+
- 12
|
| 403 |
+
eef_direction_state:
|
| 404 |
+
names:
|
| 405 |
+
- left_eef_direction
|
| 406 |
+
- right_eef_direction
|
| 407 |
+
dtype: int32
|
| 408 |
+
shape:
|
| 409 |
+
- 2
|
| 410 |
+
eef_direction_action:
|
| 411 |
+
names:
|
| 412 |
+
- left_eef_direction
|
| 413 |
+
- right_eef_direction
|
| 414 |
+
dtype: int32
|
| 415 |
+
shape:
|
| 416 |
+
- 2
|
| 417 |
+
eef_velocity_state:
|
| 418 |
+
names:
|
| 419 |
+
- left_eef_velocity
|
| 420 |
+
- right_eef_velocity
|
| 421 |
+
dtype: int32
|
| 422 |
+
shape:
|
| 423 |
+
- 2
|
| 424 |
+
eef_velocity_action:
|
| 425 |
+
names:
|
| 426 |
+
- left_eef_velocity
|
| 427 |
+
- right_eef_velocity
|
| 428 |
+
dtype: int32
|
| 429 |
+
shape:
|
| 430 |
+
- 2
|
| 431 |
+
eef_acc_mag_state:
|
| 432 |
+
names:
|
| 433 |
+
- left_eef_acc_mag
|
| 434 |
+
- right_eef_acc_mag
|
| 435 |
+
dtype: int32
|
| 436 |
+
shape:
|
| 437 |
+
- 2
|
| 438 |
+
eef_acc_mag_action:
|
| 439 |
+
names:
|
| 440 |
+
- left_eef_acc_mag
|
| 441 |
+
- right_eef_acc_mag
|
| 442 |
+
dtype: int32
|
| 443 |
+
shape:
|
| 444 |
+
- 2
|
| 445 |
+
gripper_mode_state:
|
| 446 |
+
names:
|
| 447 |
+
- left_gripper_mode
|
| 448 |
+
- right_gripper_mode
|
| 449 |
+
dtype: int32
|
| 450 |
+
shape:
|
| 451 |
+
- 2
|
| 452 |
+
gripper_mode_action:
|
| 453 |
+
names:
|
| 454 |
+
- left_gripper_mode
|
| 455 |
+
- right_gripper_mode
|
| 456 |
+
dtype: int32
|
| 457 |
+
shape:
|
| 458 |
+
- 2
|
| 459 |
+
gripper_activity_state:
|
| 460 |
+
names:
|
| 461 |
+
- left_gripper_activity
|
| 462 |
+
- right_gripper_activity
|
| 463 |
+
dtype: int32
|
| 464 |
+
shape:
|
| 465 |
+
- 2
|
| 466 |
+
gripper_activity_action:
|
| 467 |
+
names:
|
| 468 |
+
- left_gripper_activity
|
| 469 |
+
- right_gripper_activity
|
| 470 |
+
dtype: int32
|
| 471 |
+
shape:
|
| 472 |
+
- 2
|
| 473 |
+
authors:
|
| 474 |
+
contributed_by:
|
| 475 |
+
- name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
|
| 476 |
+
dataset_description: This dataset uses an extended format based on LeRobot and is
|
| 477 |
+
fully compatible with LeRobot.
|
| 478 |
+
homepage: https://flagopen.github.io/RoboCOIN/
|
| 479 |
+
paper: https://arxiv.org/abs/2511.17441
|
| 480 |
+
repository: https://github.com/FlagOpen/RoboCOIN
|
| 481 |
+
contact_info: For questions, issues, or feedback regarding this dataset, please contact
|
| 482 |
+
us.
|
| 483 |
+
support_info: For technical support, please open an issue on our GitHub repository.
|
| 484 |
+
license_details: apache-2.0
|
| 485 |
+
citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\
|
| 486 |
+
\ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\
|
| 487 |
+
\ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
|
| 488 |
+
\ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
|
| 489 |
+
\ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
|
| 490 |
+
\ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
|
| 491 |
+
\ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
|
| 492 |
+
\ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
|
| 493 |
+
\ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
|
| 494 |
+
\ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
|
| 495 |
+
\ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
|
| 496 |
+
\ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
|
| 497 |
+
\ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
|
| 498 |
+
\ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
|
| 499 |
+
\ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\
|
| 500 |
+
\ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n"
|
| 501 |
+
additional_citations: 'If you use this dataset, please also consider citing:
|
| 502 |
+
|
| 503 |
+
LeRobot Framework: https://github.com/huggingface/lerobot
|
| 504 |
+
|
| 505 |
+
'
|
| 506 |
+
version_info: Initial Release
|
| 507 |
+
data_path: data/chunk-{id}/episode_{id}.parquet
|
| 508 |
+
video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
|
| 509 |
+
video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4
|
dataset_info/Galbot_G1_line_trash_can.yaml
ADDED
|
@@ -0,0 +1,511 @@
|
|
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
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|
|
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|
|
|
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|
|
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|
|
|
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|
|
|
|
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|
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|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
task_categories:
|
| 2 |
+
- robotics
|
| 3 |
+
language:
|
| 4 |
+
- en
|
| 5 |
+
tags:
|
| 6 |
+
- RoboCOIN
|
| 7 |
+
- LeRobot
|
| 8 |
+
license: apache-2.0
|
| 9 |
+
configs:
|
| 10 |
+
- config_name: default
|
| 11 |
+
data_files: data/chunk-{id}/episode_{id}.parquet
|
| 12 |
+
extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
|
| 13 |
+
in your research/publications—see the "Citation" section for details. You agree
|
| 14 |
+
to not use the dataset to conduct experiments that cause harm to human subjects.
|
| 15 |
+
extra_gated_fields:
|
| 16 |
+
Company/Organization:
|
| 17 |
+
type: text
|
| 18 |
+
description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
|
| 19 |
+
Country:
|
| 20 |
+
type: country
|
| 21 |
+
description: e.g., "Germany", "China", "United States"
|
| 22 |
+
codebase_version: v2.1
|
| 23 |
+
dataset_name: Galbot_G1_line_trash_can
|
| 24 |
+
dataset_uuid: 1ad2a8f2-1a21-41f5-b08f-a8aad710c25e
|
| 25 |
+
scene_type:
|
| 26 |
+
level1: Household
|
| 27 |
+
level2: Kitchen
|
| 28 |
+
level3: null
|
| 29 |
+
level4: null
|
| 30 |
+
level5: null
|
| 31 |
+
env_type: real_world
|
| 32 |
+
objects:
|
| 33 |
+
- id: table
|
| 34 |
+
name: table
|
| 35 |
+
color: brown
|
| 36 |
+
anchor_policy: static
|
| 37 |
+
- id: trash_bag
|
| 38 |
+
name: trash bag
|
| 39 |
+
color: gray
|
| 40 |
+
anchor_policy: static
|
| 41 |
+
- id: trash_can
|
| 42 |
+
name: trash can
|
| 43 |
+
color: green
|
| 44 |
+
anchor_policy: static
|
| 45 |
+
task_operation_type: fixed_dual_arm
|
| 46 |
+
task_instruction: Pick up the garbage bag from the table and place it over the trash
|
| 47 |
+
can.
|
| 48 |
+
sub_tasks:
|
| 49 |
+
- Pick up the garbage bag from the table and place it over the trash can.
|
| 50 |
+
atomic_actions:
|
| 51 |
+
- grasp
|
| 52 |
+
- open
|
| 53 |
+
- wear
|
| 54 |
+
robot_name: Galbot_G1
|
| 55 |
+
end_effector_type: two_finger_end_effector
|
| 56 |
+
tele_type: master_arm
|
| 57 |
+
sensor_list:
|
| 58 |
+
- cam_right_head_rgb
|
| 59 |
+
- cam_left_head_rgb
|
| 60 |
+
- cam_right_wrist_rgb
|
| 61 |
+
- cam_left_wrist_rgb
|
| 62 |
+
came_info:
|
| 63 |
+
cam_right_head_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264,
|
| 64 |
+
pix_fmt=yuv420p
|
| 65 |
+
cam_left_head_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264,
|
| 66 |
+
pix_fmt=yuv420p
|
| 67 |
+
cam_right_wrist_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264,
|
| 68 |
+
pix_fmt=yuv420p
|
| 69 |
+
cam_left_wrist_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264,
|
| 70 |
+
pix_fmt=yuv420p
|
| 71 |
+
depth_enabled: false
|
| 72 |
+
coordinate_definition: right-hand-frame
|
| 73 |
+
joint_rotation_dim: radian
|
| 74 |
+
end_rotation_dim: radian
|
| 75 |
+
end_translation_dim: meter
|
| 76 |
+
base_translation_dim: meter
|
| 77 |
+
annotations:
|
| 78 |
+
- eef_acc_mag_annotation.jsonl
|
| 79 |
+
- eef_direction_annotation.jsonl
|
| 80 |
+
- eef_velocity_annotation.jsonl
|
| 81 |
+
- gripper_activity_annotation.jsonl
|
| 82 |
+
- gripper_mode_annotation.jsonl
|
| 83 |
+
statistics:
|
| 84 |
+
total_episodes: 422
|
| 85 |
+
total_frames: 490157
|
| 86 |
+
fps: 30
|
| 87 |
+
total_tasks: 1
|
| 88 |
+
total_videos: 1688
|
| 89 |
+
total_chunks: 1
|
| 90 |
+
chunks_size: 10000
|
| 91 |
+
state_dim: 38
|
| 92 |
+
action_dim: 38
|
| 93 |
+
camera_views: 4
|
| 94 |
+
dataset_size: 19.43 GB
|
| 95 |
+
frame_num: 490157
|
| 96 |
+
frame_range: 1M
|
| 97 |
+
dataset_size: 19.43 GB
|
| 98 |
+
data_structure: 'Galbot_G1_line_trash_can_0_qced_hardlink/
|
| 99 |
+
|
| 100 |
+
|-- annotations
|
| 101 |
+
|
| 102 |
+
| |-- eef_acc_mag_annotation.jsonl
|
| 103 |
+
|
| 104 |
+
| |-- eef_direction_annotation.jsonl
|
| 105 |
+
|
| 106 |
+
| |-- eef_velocity_annotation.jsonl
|
| 107 |
+
|
| 108 |
+
| |-- gripper_activity_annotation.jsonl
|
| 109 |
+
|
| 110 |
+
| `-- gripper_mode_annotation.jsonl
|
| 111 |
+
|
| 112 |
+
|-- data
|
| 113 |
+
|
| 114 |
+
| `-- chunk-000
|
| 115 |
+
|
| 116 |
+
| |-- episode_000000.parquet
|
| 117 |
+
|
| 118 |
+
| |-- episode_000001.parquet
|
| 119 |
+
|
| 120 |
+
| |-- episode_000002.parquet
|
| 121 |
+
|
| 122 |
+
| |-- episode_000003.parquet
|
| 123 |
+
|
| 124 |
+
| |-- episode_000004.parquet
|
| 125 |
+
|
| 126 |
+
| |-- episode_000005.parquet
|
| 127 |
+
|
| 128 |
+
| |-- episode_000006.parquet
|
| 129 |
+
|
| 130 |
+
| |-- episode_000007.parquet
|
| 131 |
+
|
| 132 |
+
| |-- episode_000008.parquet
|
| 133 |
+
|
| 134 |
+
| |-- episode_000009.parquet
|
| 135 |
+
|
| 136 |
+
| |-- episode_000010.parquet
|
| 137 |
+
|
| 138 |
+
| `-- episode_000011.parquet
|
| 139 |
+
|
| 140 |
+
| `-- ... (410 more entries)
|
| 141 |
+
|
| 142 |
+
|-- meta
|
| 143 |
+
|
| 144 |
+
| |-- episodes.jsonl
|
| 145 |
+
|
| 146 |
+
| |-- episodes_stats.jsonl
|
| 147 |
+
|
| 148 |
+
| |-- info.json
|
| 149 |
+
|
| 150 |
+
| `-- tasks.jsonl
|
| 151 |
+
|
| 152 |
+
|-- videos
|
| 153 |
+
|
| 154 |
+
| `-- chunk-000
|
| 155 |
+
|
| 156 |
+
| |-- observation.images.cam_left_head_rgb
|
| 157 |
+
|
| 158 |
+
| |-- observation.images.cam_left_wrist_rgb
|
| 159 |
+
|
| 160 |
+
| |-- observation.images.cam_right_head_rgb
|
| 161 |
+
|
| 162 |
+
| `-- observation.images.cam_right_wrist_rgb
|
| 163 |
+
|
| 164 |
+
|-- info.yaml
|
| 165 |
+
|
| 166 |
+
`-- README.md'
|
| 167 |
+
splits:
|
| 168 |
+
train: 0:421
|
| 169 |
+
features:
|
| 170 |
+
action:
|
| 171 |
+
dtype: float32
|
| 172 |
+
names:
|
| 173 |
+
- right_arm_joint_1_rad
|
| 174 |
+
- right_arm_joint_2_rad
|
| 175 |
+
- right_arm_joint_3_rad
|
| 176 |
+
- right_arm_joint_4_rad
|
| 177 |
+
- right_arm_joint_5_rad
|
| 178 |
+
- right_arm_joint_6_rad
|
| 179 |
+
- right_arm_joint_7_rad
|
| 180 |
+
- right_gripper_open
|
| 181 |
+
- left_arm_joint_1_rad
|
| 182 |
+
- left_arm_joint_2_rad
|
| 183 |
+
- left_arm_joint_3_rad
|
| 184 |
+
- left_arm_joint_4_rad
|
| 185 |
+
- left_arm_joint_5_rad
|
| 186 |
+
- left_arm_joint_6_rad
|
| 187 |
+
- left_arm_joint_7_rad
|
| 188 |
+
- left_gripper_open
|
| 189 |
+
- torso_joint_1_rad
|
| 190 |
+
- torso_joint_2_rad
|
| 191 |
+
- torso_joint_3_rad
|
| 192 |
+
- torso_joint_4_rad
|
| 193 |
+
- torso_joint_5_rad
|
| 194 |
+
- head_joint_1_rad
|
| 195 |
+
- head_joint_2_rad
|
| 196 |
+
- chassis_pos_1
|
| 197 |
+
- chassis_pos_2
|
| 198 |
+
- chassis_pos_3
|
| 199 |
+
- chassis_pos_4
|
| 200 |
+
- chassis_vel_1
|
| 201 |
+
- chassis_vel_2
|
| 202 |
+
- chassis_vel_3
|
| 203 |
+
- chassis_vel_4
|
| 204 |
+
- base_pos_x_m
|
| 205 |
+
- base_pos_y_m
|
| 206 |
+
- base_orient_quat_z
|
| 207 |
+
- base_orient_quat_w
|
| 208 |
+
- base_vel_x_m_s
|
| 209 |
+
- base_vel_y_m_s
|
| 210 |
+
- base_vel_angular_z_rad_s
|
| 211 |
+
shape:
|
| 212 |
+
- 38
|
| 213 |
+
observation.state:
|
| 214 |
+
dtype: float32
|
| 215 |
+
names:
|
| 216 |
+
- right_arm_joint_1_rad
|
| 217 |
+
- right_arm_joint_2_rad
|
| 218 |
+
- right_arm_joint_3_rad
|
| 219 |
+
- right_arm_joint_4_rad
|
| 220 |
+
- right_arm_joint_5_rad
|
| 221 |
+
- right_arm_joint_6_rad
|
| 222 |
+
- right_arm_joint_7_rad
|
| 223 |
+
- right_gripper_open
|
| 224 |
+
- left_arm_joint_1_rad
|
| 225 |
+
- left_arm_joint_2_rad
|
| 226 |
+
- left_arm_joint_3_rad
|
| 227 |
+
- left_arm_joint_4_rad
|
| 228 |
+
- left_arm_joint_5_rad
|
| 229 |
+
- left_arm_joint_6_rad
|
| 230 |
+
- left_arm_joint_7_rad
|
| 231 |
+
- left_gripper_open
|
| 232 |
+
- torso_joint_1_rad
|
| 233 |
+
- torso_joint_2_rad
|
| 234 |
+
- torso_joint_3_rad
|
| 235 |
+
- torso_joint_4_rad
|
| 236 |
+
- torso_joint_5_rad
|
| 237 |
+
- head_joint_1_rad
|
| 238 |
+
- head_joint_2_rad
|
| 239 |
+
- chassis_pos_1
|
| 240 |
+
- chassis_pos_2
|
| 241 |
+
- chassis_pos_3
|
| 242 |
+
- chassis_pos_4
|
| 243 |
+
- chassis_vel_1
|
| 244 |
+
- chassis_vel_2
|
| 245 |
+
- chassis_vel_3
|
| 246 |
+
- chassis_vel_4
|
| 247 |
+
- base_pos_x_m
|
| 248 |
+
- base_pos_y_m
|
| 249 |
+
- base_orient_quat_z
|
| 250 |
+
- base_orient_quat_w
|
| 251 |
+
- base_vel_x_m_s
|
| 252 |
+
- base_vel_y_m_s
|
| 253 |
+
- base_vel_angular_z_rad_s
|
| 254 |
+
shape:
|
| 255 |
+
- 38
|
| 256 |
+
observation.images.cam_right_head_rgb:
|
| 257 |
+
dtype: video
|
| 258 |
+
shape:
|
| 259 |
+
- 720
|
| 260 |
+
- 960
|
| 261 |
+
- 3
|
| 262 |
+
names:
|
| 263 |
+
- height
|
| 264 |
+
- width
|
| 265 |
+
- channels
|
| 266 |
+
info:
|
| 267 |
+
video.fps: 30
|
| 268 |
+
video.height: 720
|
| 269 |
+
video.width: 960
|
| 270 |
+
video.channels: 3
|
| 271 |
+
video.codec: libx264
|
| 272 |
+
video.pix_fmt: yuv420p
|
| 273 |
+
video.is_depth_map: false
|
| 274 |
+
has_audio: false
|
| 275 |
+
observation.images.cam_left_head_rgb:
|
| 276 |
+
dtype: video
|
| 277 |
+
shape:
|
| 278 |
+
- 720
|
| 279 |
+
- 960
|
| 280 |
+
- 3
|
| 281 |
+
names:
|
| 282 |
+
- height
|
| 283 |
+
- width
|
| 284 |
+
- channels
|
| 285 |
+
info:
|
| 286 |
+
video.fps: 30
|
| 287 |
+
video.height: 720
|
| 288 |
+
video.width: 960
|
| 289 |
+
video.channels: 3
|
| 290 |
+
video.codec: libx264
|
| 291 |
+
video.pix_fmt: yuv420p
|
| 292 |
+
video.is_depth_map: false
|
| 293 |
+
has_audio: false
|
| 294 |
+
observation.images.cam_right_wrist_rgb:
|
| 295 |
+
dtype: video
|
| 296 |
+
shape:
|
| 297 |
+
- 720
|
| 298 |
+
- 960
|
| 299 |
+
- 3
|
| 300 |
+
names:
|
| 301 |
+
- height
|
| 302 |
+
- width
|
| 303 |
+
- channels
|
| 304 |
+
info:
|
| 305 |
+
video.fps: 30
|
| 306 |
+
video.height: 720
|
| 307 |
+
video.width: 960
|
| 308 |
+
video.channels: 3
|
| 309 |
+
video.codec: libx264
|
| 310 |
+
video.pix_fmt: yuv420p
|
| 311 |
+
video.is_depth_map: false
|
| 312 |
+
has_audio: false
|
| 313 |
+
observation.images.cam_left_wrist_rgb:
|
| 314 |
+
dtype: video
|
| 315 |
+
shape:
|
| 316 |
+
- 720
|
| 317 |
+
- 960
|
| 318 |
+
- 3
|
| 319 |
+
names:
|
| 320 |
+
- height
|
| 321 |
+
- width
|
| 322 |
+
- channels
|
| 323 |
+
info:
|
| 324 |
+
video.fps: 30
|
| 325 |
+
video.height: 720
|
| 326 |
+
video.width: 960
|
| 327 |
+
video.channels: 3
|
| 328 |
+
video.codec: libx264
|
| 329 |
+
video.pix_fmt: yuv420p
|
| 330 |
+
video.is_depth_map: false
|
| 331 |
+
has_audio: false
|
| 332 |
+
timestamp:
|
| 333 |
+
dtype: float32
|
| 334 |
+
shape:
|
| 335 |
+
- 1
|
| 336 |
+
names: null
|
| 337 |
+
frame_index:
|
| 338 |
+
dtype: int64
|
| 339 |
+
shape:
|
| 340 |
+
- 1
|
| 341 |
+
names: null
|
| 342 |
+
episode_index:
|
| 343 |
+
dtype: int64
|
| 344 |
+
shape:
|
| 345 |
+
- 1
|
| 346 |
+
names: null
|
| 347 |
+
index:
|
| 348 |
+
dtype: int64
|
| 349 |
+
shape:
|
| 350 |
+
- 1
|
| 351 |
+
names: null
|
| 352 |
+
task_index:
|
| 353 |
+
dtype: int64
|
| 354 |
+
shape:
|
| 355 |
+
- 1
|
| 356 |
+
names: null
|
| 357 |
+
gripper_open_scale_state:
|
| 358 |
+
names:
|
| 359 |
+
- left_gripper_open_scale
|
| 360 |
+
- right_gripper_open_scale
|
| 361 |
+
dtype: float64
|
| 362 |
+
shape:
|
| 363 |
+
- 2
|
| 364 |
+
gripper_open_scale_action:
|
| 365 |
+
names:
|
| 366 |
+
- left_gripper_open_scale
|
| 367 |
+
- right_gripper_open_scale
|
| 368 |
+
dtype: float64
|
| 369 |
+
shape:
|
| 370 |
+
- 2
|
| 371 |
+
eef_sim_pose_state:
|
| 372 |
+
names:
|
| 373 |
+
- left_eef_pos_x
|
| 374 |
+
- left_eef_pos_y
|
| 375 |
+
- left_eef_pos_z
|
| 376 |
+
- left_eef_rot_x
|
| 377 |
+
- left_eef_rot_y
|
| 378 |
+
- left_eef_rot_z
|
| 379 |
+
- right_eef_pos_x
|
| 380 |
+
- right_eef_pos_y
|
| 381 |
+
- right_eef_pos_z
|
| 382 |
+
- right_eef_rot_x
|
| 383 |
+
- right_eef_rot_y
|
| 384 |
+
- right_eef_rot_z
|
| 385 |
+
dtype: float32
|
| 386 |
+
shape:
|
| 387 |
+
- 12
|
| 388 |
+
eef_sim_pose_action:
|
| 389 |
+
names:
|
| 390 |
+
- left_eef_pos_x
|
| 391 |
+
- left_eef_pos_y
|
| 392 |
+
- left_eef_pos_z
|
| 393 |
+
- left_eef_rot_x
|
| 394 |
+
- left_eef_rot_y
|
| 395 |
+
- left_eef_rot_z
|
| 396 |
+
- right_eef_pos_x
|
| 397 |
+
- right_eef_pos_y
|
| 398 |
+
- right_eef_pos_z
|
| 399 |
+
- right_eef_rot_x
|
| 400 |
+
- right_eef_rot_y
|
| 401 |
+
- right_eef_rot_z
|
| 402 |
+
dtype: float32
|
| 403 |
+
shape:
|
| 404 |
+
- 12
|
| 405 |
+
eef_direction_state:
|
| 406 |
+
names:
|
| 407 |
+
- left_eef_direction
|
| 408 |
+
- right_eef_direction
|
| 409 |
+
dtype: int32
|
| 410 |
+
shape:
|
| 411 |
+
- 2
|
| 412 |
+
eef_direction_action:
|
| 413 |
+
names:
|
| 414 |
+
- left_eef_direction
|
| 415 |
+
- right_eef_direction
|
| 416 |
+
dtype: int32
|
| 417 |
+
shape:
|
| 418 |
+
- 2
|
| 419 |
+
eef_velocity_state:
|
| 420 |
+
names:
|
| 421 |
+
- left_eef_velocity
|
| 422 |
+
- right_eef_velocity
|
| 423 |
+
dtype: int32
|
| 424 |
+
shape:
|
| 425 |
+
- 2
|
| 426 |
+
eef_velocity_action:
|
| 427 |
+
names:
|
| 428 |
+
- left_eef_velocity
|
| 429 |
+
- right_eef_velocity
|
| 430 |
+
dtype: int32
|
| 431 |
+
shape:
|
| 432 |
+
- 2
|
| 433 |
+
eef_acc_mag_state:
|
| 434 |
+
names:
|
| 435 |
+
- left_eef_acc_mag
|
| 436 |
+
- right_eef_acc_mag
|
| 437 |
+
dtype: int32
|
| 438 |
+
shape:
|
| 439 |
+
- 2
|
| 440 |
+
eef_acc_mag_action:
|
| 441 |
+
names:
|
| 442 |
+
- left_eef_acc_mag
|
| 443 |
+
- right_eef_acc_mag
|
| 444 |
+
dtype: int32
|
| 445 |
+
shape:
|
| 446 |
+
- 2
|
| 447 |
+
gripper_mode_state:
|
| 448 |
+
names:
|
| 449 |
+
- left_gripper_mode
|
| 450 |
+
- right_gripper_mode
|
| 451 |
+
dtype: int32
|
| 452 |
+
shape:
|
| 453 |
+
- 2
|
| 454 |
+
gripper_mode_action:
|
| 455 |
+
names:
|
| 456 |
+
- left_gripper_mode
|
| 457 |
+
- right_gripper_mode
|
| 458 |
+
dtype: int32
|
| 459 |
+
shape:
|
| 460 |
+
- 2
|
| 461 |
+
gripper_activity_state:
|
| 462 |
+
names:
|
| 463 |
+
- left_gripper_activity
|
| 464 |
+
- right_gripper_activity
|
| 465 |
+
dtype: int32
|
| 466 |
+
shape:
|
| 467 |
+
- 2
|
| 468 |
+
gripper_activity_action:
|
| 469 |
+
names:
|
| 470 |
+
- left_gripper_activity
|
| 471 |
+
- right_gripper_activity
|
| 472 |
+
dtype: int32
|
| 473 |
+
shape:
|
| 474 |
+
- 2
|
| 475 |
+
authors:
|
| 476 |
+
contributed_by:
|
| 477 |
+
- name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
|
| 478 |
+
dataset_description: This dataset uses an extended format based on LeRobot and is
|
| 479 |
+
fully compatible with LeRobot.
|
| 480 |
+
homepage: https://flagopen.github.io/RoboCOIN/
|
| 481 |
+
paper: https://arxiv.org/abs/2511.17441
|
| 482 |
+
repository: https://github.com/FlagOpen/RoboCOIN
|
| 483 |
+
contact_info: For questions, issues, or feedback regarding this dataset, please contact
|
| 484 |
+
us.
|
| 485 |
+
support_info: For technical support, please open an issue on our GitHub repository.
|
| 486 |
+
license_details: apache-2.0
|
| 487 |
+
citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\
|
| 488 |
+
\ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\
|
| 489 |
+
\ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
|
| 490 |
+
\ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
|
| 491 |
+
\ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
|
| 492 |
+
\ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
|
| 493 |
+
\ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
|
| 494 |
+
\ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
|
| 495 |
+
\ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
|
| 496 |
+
\ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
|
| 497 |
+
\ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
|
| 498 |
+
\ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
|
| 499 |
+
\ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
|
| 500 |
+
\ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
|
| 501 |
+
\ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\
|
| 502 |
+
\ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n"
|
| 503 |
+
additional_citations: 'If you use this dataset, please also consider citing:
|
| 504 |
+
|
| 505 |
+
LeRobot Framework: https://github.com/huggingface/lerobot
|
| 506 |
+
|
| 507 |
+
'
|
| 508 |
+
version_info: Initial Release
|
| 509 |
+
data_path: data/chunk-{id}/episode_{id}.parquet
|
| 510 |
+
video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
|
| 511 |
+
video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4
|
dataset_info/Galbot_G1_line_trash_can_1.yaml
ADDED
|
@@ -0,0 +1,509 @@
|
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|
|
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|
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|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
task_categories:
|
| 2 |
+
- robotics
|
| 3 |
+
language:
|
| 4 |
+
- en
|
| 5 |
+
tags:
|
| 6 |
+
- RoboCOIN
|
| 7 |
+
- LeRobot
|
| 8 |
+
license: apache-2.0
|
| 9 |
+
configs:
|
| 10 |
+
- config_name: default
|
| 11 |
+
data_files: data/chunk-{id}/episode_{id}.parquet
|
| 12 |
+
extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
|
| 13 |
+
in your research/publications—see the "Citation" section for details. You agree
|
| 14 |
+
to not use the dataset to conduct experiments that cause harm to human subjects.
|
| 15 |
+
extra_gated_fields:
|
| 16 |
+
Company/Organization:
|
| 17 |
+
type: text
|
| 18 |
+
description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
|
| 19 |
+
Country:
|
| 20 |
+
type: country
|
| 21 |
+
description: e.g., "Germany", "China", "United States"
|
| 22 |
+
codebase_version: v2.1
|
| 23 |
+
dataset_name: Galbot_G1_line_trash_can_1
|
| 24 |
+
dataset_uuid: db253846-ea20-4923-b340-754451e17150
|
| 25 |
+
scene_type:
|
| 26 |
+
level1: Household
|
| 27 |
+
level2: Bedroom
|
| 28 |
+
level3: null
|
| 29 |
+
level4: null
|
| 30 |
+
level5: null
|
| 31 |
+
env_type: real_world
|
| 32 |
+
objects:
|
| 33 |
+
- id: trash_can
|
| 34 |
+
name: trash can
|
| 35 |
+
color: white
|
| 36 |
+
anchor_policy: static
|
| 37 |
+
- id: trash_bag
|
| 38 |
+
name: trash bag
|
| 39 |
+
color: black
|
| 40 |
+
anchor_policy: static
|
| 41 |
+
- id: wall
|
| 42 |
+
name: wall
|
| 43 |
+
color: white
|
| 44 |
+
anchor_policy: static
|
| 45 |
+
task_operation_type: fixed_dual_arm
|
| 46 |
+
task_instruction: Place a trash bag onto the trash bin.
|
| 47 |
+
sub_tasks:
|
| 48 |
+
- Place a trash bag onto the trash bin.
|
| 49 |
+
atomic_actions:
|
| 50 |
+
- grasp
|
| 51 |
+
- place
|
| 52 |
+
robot_name: Galbot_G1
|
| 53 |
+
end_effector_type: two_finger_end_effector
|
| 54 |
+
tele_type: master_arm
|
| 55 |
+
sensor_list:
|
| 56 |
+
- cam_right_head_rgb
|
| 57 |
+
- cam_left_head_rgb
|
| 58 |
+
- cam_right_wrist_rgb
|
| 59 |
+
- cam_left_wrist_rgb
|
| 60 |
+
came_info:
|
| 61 |
+
cam_right_head_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264,
|
| 62 |
+
pix_fmt=yuv420p
|
| 63 |
+
cam_left_head_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264,
|
| 64 |
+
pix_fmt=yuv420p
|
| 65 |
+
cam_right_wrist_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264,
|
| 66 |
+
pix_fmt=yuv420p
|
| 67 |
+
cam_left_wrist_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264,
|
| 68 |
+
pix_fmt=yuv420p
|
| 69 |
+
depth_enabled: false
|
| 70 |
+
coordinate_definition: right-hand-frame
|
| 71 |
+
joint_rotation_dim: radian
|
| 72 |
+
end_rotation_dim: radian
|
| 73 |
+
end_translation_dim: meter
|
| 74 |
+
base_translation_dim: meter
|
| 75 |
+
annotations:
|
| 76 |
+
- eef_acc_mag_annotation.jsonl
|
| 77 |
+
- eef_direction_annotation.jsonl
|
| 78 |
+
- eef_velocity_annotation.jsonl
|
| 79 |
+
- gripper_activity_annotation.jsonl
|
| 80 |
+
- gripper_mode_annotation.jsonl
|
| 81 |
+
statistics:
|
| 82 |
+
total_episodes: 132
|
| 83 |
+
total_frames: 200986
|
| 84 |
+
fps: 30
|
| 85 |
+
total_tasks: 1
|
| 86 |
+
total_videos: 528
|
| 87 |
+
total_chunks: 1
|
| 88 |
+
chunks_size: 10000
|
| 89 |
+
state_dim: 38
|
| 90 |
+
action_dim: 38
|
| 91 |
+
camera_views: 4
|
| 92 |
+
dataset_size: 8.12 GB
|
| 93 |
+
frame_num: 200986
|
| 94 |
+
frame_range: 1M
|
| 95 |
+
dataset_size: 8.12 GB
|
| 96 |
+
data_structure: 'Galbot_G1_line_trash_can_1_qced_hardlink/
|
| 97 |
+
|
| 98 |
+
|-- annotations
|
| 99 |
+
|
| 100 |
+
| |-- eef_acc_mag_annotation.jsonl
|
| 101 |
+
|
| 102 |
+
| |-- eef_direction_annotation.jsonl
|
| 103 |
+
|
| 104 |
+
| |-- eef_velocity_annotation.jsonl
|
| 105 |
+
|
| 106 |
+
| |-- gripper_activity_annotation.jsonl
|
| 107 |
+
|
| 108 |
+
| `-- gripper_mode_annotation.jsonl
|
| 109 |
+
|
| 110 |
+
|-- data
|
| 111 |
+
|
| 112 |
+
| `-- chunk-000
|
| 113 |
+
|
| 114 |
+
| |-- episode_000000.parquet
|
| 115 |
+
|
| 116 |
+
| |-- episode_000001.parquet
|
| 117 |
+
|
| 118 |
+
| |-- episode_000002.parquet
|
| 119 |
+
|
| 120 |
+
| |-- episode_000003.parquet
|
| 121 |
+
|
| 122 |
+
| |-- episode_000004.parquet
|
| 123 |
+
|
| 124 |
+
| |-- episode_000005.parquet
|
| 125 |
+
|
| 126 |
+
| |-- episode_000006.parquet
|
| 127 |
+
|
| 128 |
+
| |-- episode_000007.parquet
|
| 129 |
+
|
| 130 |
+
| |-- episode_000008.parquet
|
| 131 |
+
|
| 132 |
+
| |-- episode_000009.parquet
|
| 133 |
+
|
| 134 |
+
| |-- episode_000010.parquet
|
| 135 |
+
|
| 136 |
+
| `-- episode_000011.parquet
|
| 137 |
+
|
| 138 |
+
| `-- ... (120 more entries)
|
| 139 |
+
|
| 140 |
+
|-- meta
|
| 141 |
+
|
| 142 |
+
| |-- episodes.jsonl
|
| 143 |
+
|
| 144 |
+
| |-- episodes_stats.jsonl
|
| 145 |
+
|
| 146 |
+
| |-- info.json
|
| 147 |
+
|
| 148 |
+
| `-- tasks.jsonl
|
| 149 |
+
|
| 150 |
+
|-- videos
|
| 151 |
+
|
| 152 |
+
| `-- chunk-000
|
| 153 |
+
|
| 154 |
+
| |-- observation.images.cam_left_head_rgb
|
| 155 |
+
|
| 156 |
+
| |-- observation.images.cam_left_wrist_rgb
|
| 157 |
+
|
| 158 |
+
| |-- observation.images.cam_right_head_rgb
|
| 159 |
+
|
| 160 |
+
| `-- observation.images.cam_right_wrist_rgb
|
| 161 |
+
|
| 162 |
+
|-- info.yaml
|
| 163 |
+
|
| 164 |
+
`-- README.md'
|
| 165 |
+
splits:
|
| 166 |
+
train: 0:131
|
| 167 |
+
features:
|
| 168 |
+
action:
|
| 169 |
+
dtype: float32
|
| 170 |
+
names:
|
| 171 |
+
- right_arm_joint_1_rad
|
| 172 |
+
- right_arm_joint_2_rad
|
| 173 |
+
- right_arm_joint_3_rad
|
| 174 |
+
- right_arm_joint_4_rad
|
| 175 |
+
- right_arm_joint_5_rad
|
| 176 |
+
- right_arm_joint_6_rad
|
| 177 |
+
- right_arm_joint_7_rad
|
| 178 |
+
- right_gripper_open
|
| 179 |
+
- left_arm_joint_1_rad
|
| 180 |
+
- left_arm_joint_2_rad
|
| 181 |
+
- left_arm_joint_3_rad
|
| 182 |
+
- left_arm_joint_4_rad
|
| 183 |
+
- left_arm_joint_5_rad
|
| 184 |
+
- left_arm_joint_6_rad
|
| 185 |
+
- left_arm_joint_7_rad
|
| 186 |
+
- left_gripper_open
|
| 187 |
+
- torso_joint_1_rad
|
| 188 |
+
- torso_joint_2_rad
|
| 189 |
+
- torso_joint_3_rad
|
| 190 |
+
- torso_joint_4_rad
|
| 191 |
+
- torso_joint_5_rad
|
| 192 |
+
- head_joint_1_rad
|
| 193 |
+
- head_joint_2_rad
|
| 194 |
+
- chassis_pos_1
|
| 195 |
+
- chassis_pos_2
|
| 196 |
+
- chassis_pos_3
|
| 197 |
+
- chassis_pos_4
|
| 198 |
+
- chassis_vel_1
|
| 199 |
+
- chassis_vel_2
|
| 200 |
+
- chassis_vel_3
|
| 201 |
+
- chassis_vel_4
|
| 202 |
+
- base_pos_x_m
|
| 203 |
+
- base_pos_y_m
|
| 204 |
+
- base_orient_quat_z
|
| 205 |
+
- base_orient_quat_w
|
| 206 |
+
- base_vel_x_m_s
|
| 207 |
+
- base_vel_y_m_s
|
| 208 |
+
- base_vel_angular_z_rad_s
|
| 209 |
+
shape:
|
| 210 |
+
- 38
|
| 211 |
+
observation.state:
|
| 212 |
+
dtype: float32
|
| 213 |
+
names:
|
| 214 |
+
- right_arm_joint_1_rad
|
| 215 |
+
- right_arm_joint_2_rad
|
| 216 |
+
- right_arm_joint_3_rad
|
| 217 |
+
- right_arm_joint_4_rad
|
| 218 |
+
- right_arm_joint_5_rad
|
| 219 |
+
- right_arm_joint_6_rad
|
| 220 |
+
- right_arm_joint_7_rad
|
| 221 |
+
- right_gripper_open
|
| 222 |
+
- left_arm_joint_1_rad
|
| 223 |
+
- left_arm_joint_2_rad
|
| 224 |
+
- left_arm_joint_3_rad
|
| 225 |
+
- left_arm_joint_4_rad
|
| 226 |
+
- left_arm_joint_5_rad
|
| 227 |
+
- left_arm_joint_6_rad
|
| 228 |
+
- left_arm_joint_7_rad
|
| 229 |
+
- left_gripper_open
|
| 230 |
+
- torso_joint_1_rad
|
| 231 |
+
- torso_joint_2_rad
|
| 232 |
+
- torso_joint_3_rad
|
| 233 |
+
- torso_joint_4_rad
|
| 234 |
+
- torso_joint_5_rad
|
| 235 |
+
- head_joint_1_rad
|
| 236 |
+
- head_joint_2_rad
|
| 237 |
+
- chassis_pos_1
|
| 238 |
+
- chassis_pos_2
|
| 239 |
+
- chassis_pos_3
|
| 240 |
+
- chassis_pos_4
|
| 241 |
+
- chassis_vel_1
|
| 242 |
+
- chassis_vel_2
|
| 243 |
+
- chassis_vel_3
|
| 244 |
+
- chassis_vel_4
|
| 245 |
+
- base_pos_x_m
|
| 246 |
+
- base_pos_y_m
|
| 247 |
+
- base_orient_quat_z
|
| 248 |
+
- base_orient_quat_w
|
| 249 |
+
- base_vel_x_m_s
|
| 250 |
+
- base_vel_y_m_s
|
| 251 |
+
- base_vel_angular_z_rad_s
|
| 252 |
+
shape:
|
| 253 |
+
- 38
|
| 254 |
+
observation.images.cam_right_head_rgb:
|
| 255 |
+
dtype: video
|
| 256 |
+
shape:
|
| 257 |
+
- 720
|
| 258 |
+
- 960
|
| 259 |
+
- 3
|
| 260 |
+
names:
|
| 261 |
+
- height
|
| 262 |
+
- width
|
| 263 |
+
- channels
|
| 264 |
+
info:
|
| 265 |
+
video.fps: 30
|
| 266 |
+
video.height: 720
|
| 267 |
+
video.width: 960
|
| 268 |
+
video.channels: 3
|
| 269 |
+
video.codec: libx264
|
| 270 |
+
video.pix_fmt: yuv420p
|
| 271 |
+
video.is_depth_map: false
|
| 272 |
+
has_audio: false
|
| 273 |
+
observation.images.cam_left_head_rgb:
|
| 274 |
+
dtype: video
|
| 275 |
+
shape:
|
| 276 |
+
- 720
|
| 277 |
+
- 960
|
| 278 |
+
- 3
|
| 279 |
+
names:
|
| 280 |
+
- height
|
| 281 |
+
- width
|
| 282 |
+
- channels
|
| 283 |
+
info:
|
| 284 |
+
video.fps: 30
|
| 285 |
+
video.height: 720
|
| 286 |
+
video.width: 960
|
| 287 |
+
video.channels: 3
|
| 288 |
+
video.codec: libx264
|
| 289 |
+
video.pix_fmt: yuv420p
|
| 290 |
+
video.is_depth_map: false
|
| 291 |
+
has_audio: false
|
| 292 |
+
observation.images.cam_right_wrist_rgb:
|
| 293 |
+
dtype: video
|
| 294 |
+
shape:
|
| 295 |
+
- 720
|
| 296 |
+
- 960
|
| 297 |
+
- 3
|
| 298 |
+
names:
|
| 299 |
+
- height
|
| 300 |
+
- width
|
| 301 |
+
- channels
|
| 302 |
+
info:
|
| 303 |
+
video.fps: 30
|
| 304 |
+
video.height: 720
|
| 305 |
+
video.width: 960
|
| 306 |
+
video.channels: 3
|
| 307 |
+
video.codec: libx264
|
| 308 |
+
video.pix_fmt: yuv420p
|
| 309 |
+
video.is_depth_map: false
|
| 310 |
+
has_audio: false
|
| 311 |
+
observation.images.cam_left_wrist_rgb:
|
| 312 |
+
dtype: video
|
| 313 |
+
shape:
|
| 314 |
+
- 720
|
| 315 |
+
- 960
|
| 316 |
+
- 3
|
| 317 |
+
names:
|
| 318 |
+
- height
|
| 319 |
+
- width
|
| 320 |
+
- channels
|
| 321 |
+
info:
|
| 322 |
+
video.fps: 30
|
| 323 |
+
video.height: 720
|
| 324 |
+
video.width: 960
|
| 325 |
+
video.channels: 3
|
| 326 |
+
video.codec: libx264
|
| 327 |
+
video.pix_fmt: yuv420p
|
| 328 |
+
video.is_depth_map: false
|
| 329 |
+
has_audio: false
|
| 330 |
+
timestamp:
|
| 331 |
+
dtype: float32
|
| 332 |
+
shape:
|
| 333 |
+
- 1
|
| 334 |
+
names: null
|
| 335 |
+
frame_index:
|
| 336 |
+
dtype: int64
|
| 337 |
+
shape:
|
| 338 |
+
- 1
|
| 339 |
+
names: null
|
| 340 |
+
episode_index:
|
| 341 |
+
dtype: int64
|
| 342 |
+
shape:
|
| 343 |
+
- 1
|
| 344 |
+
names: null
|
| 345 |
+
index:
|
| 346 |
+
dtype: int64
|
| 347 |
+
shape:
|
| 348 |
+
- 1
|
| 349 |
+
names: null
|
| 350 |
+
task_index:
|
| 351 |
+
dtype: int64
|
| 352 |
+
shape:
|
| 353 |
+
- 1
|
| 354 |
+
names: null
|
| 355 |
+
gripper_open_scale_state:
|
| 356 |
+
names:
|
| 357 |
+
- left_gripper_open_scale
|
| 358 |
+
- right_gripper_open_scale
|
| 359 |
+
dtype: float64
|
| 360 |
+
shape:
|
| 361 |
+
- 2
|
| 362 |
+
gripper_open_scale_action:
|
| 363 |
+
names:
|
| 364 |
+
- left_gripper_open_scale
|
| 365 |
+
- right_gripper_open_scale
|
| 366 |
+
dtype: float64
|
| 367 |
+
shape:
|
| 368 |
+
- 2
|
| 369 |
+
eef_sim_pose_state:
|
| 370 |
+
names:
|
| 371 |
+
- left_eef_pos_x
|
| 372 |
+
- left_eef_pos_y
|
| 373 |
+
- left_eef_pos_z
|
| 374 |
+
- left_eef_rot_x
|
| 375 |
+
- left_eef_rot_y
|
| 376 |
+
- left_eef_rot_z
|
| 377 |
+
- right_eef_pos_x
|
| 378 |
+
- right_eef_pos_y
|
| 379 |
+
- right_eef_pos_z
|
| 380 |
+
- right_eef_rot_x
|
| 381 |
+
- right_eef_rot_y
|
| 382 |
+
- right_eef_rot_z
|
| 383 |
+
dtype: float32
|
| 384 |
+
shape:
|
| 385 |
+
- 12
|
| 386 |
+
eef_sim_pose_action:
|
| 387 |
+
names:
|
| 388 |
+
- left_eef_pos_x
|
| 389 |
+
- left_eef_pos_y
|
| 390 |
+
- left_eef_pos_z
|
| 391 |
+
- left_eef_rot_x
|
| 392 |
+
- left_eef_rot_y
|
| 393 |
+
- left_eef_rot_z
|
| 394 |
+
- right_eef_pos_x
|
| 395 |
+
- right_eef_pos_y
|
| 396 |
+
- right_eef_pos_z
|
| 397 |
+
- right_eef_rot_x
|
| 398 |
+
- right_eef_rot_y
|
| 399 |
+
- right_eef_rot_z
|
| 400 |
+
dtype: float32
|
| 401 |
+
shape:
|
| 402 |
+
- 12
|
| 403 |
+
eef_direction_state:
|
| 404 |
+
names:
|
| 405 |
+
- left_eef_direction
|
| 406 |
+
- right_eef_direction
|
| 407 |
+
dtype: int32
|
| 408 |
+
shape:
|
| 409 |
+
- 2
|
| 410 |
+
eef_direction_action:
|
| 411 |
+
names:
|
| 412 |
+
- left_eef_direction
|
| 413 |
+
- right_eef_direction
|
| 414 |
+
dtype: int32
|
| 415 |
+
shape:
|
| 416 |
+
- 2
|
| 417 |
+
eef_velocity_state:
|
| 418 |
+
names:
|
| 419 |
+
- left_eef_velocity
|
| 420 |
+
- right_eef_velocity
|
| 421 |
+
dtype: int32
|
| 422 |
+
shape:
|
| 423 |
+
- 2
|
| 424 |
+
eef_velocity_action:
|
| 425 |
+
names:
|
| 426 |
+
- left_eef_velocity
|
| 427 |
+
- right_eef_velocity
|
| 428 |
+
dtype: int32
|
| 429 |
+
shape:
|
| 430 |
+
- 2
|
| 431 |
+
eef_acc_mag_state:
|
| 432 |
+
names:
|
| 433 |
+
- left_eef_acc_mag
|
| 434 |
+
- right_eef_acc_mag
|
| 435 |
+
dtype: int32
|
| 436 |
+
shape:
|
| 437 |
+
- 2
|
| 438 |
+
eef_acc_mag_action:
|
| 439 |
+
names:
|
| 440 |
+
- left_eef_acc_mag
|
| 441 |
+
- right_eef_acc_mag
|
| 442 |
+
dtype: int32
|
| 443 |
+
shape:
|
| 444 |
+
- 2
|
| 445 |
+
gripper_mode_state:
|
| 446 |
+
names:
|
| 447 |
+
- left_gripper_mode
|
| 448 |
+
- right_gripper_mode
|
| 449 |
+
dtype: int32
|
| 450 |
+
shape:
|
| 451 |
+
- 2
|
| 452 |
+
gripper_mode_action:
|
| 453 |
+
names:
|
| 454 |
+
- left_gripper_mode
|
| 455 |
+
- right_gripper_mode
|
| 456 |
+
dtype: int32
|
| 457 |
+
shape:
|
| 458 |
+
- 2
|
| 459 |
+
gripper_activity_state:
|
| 460 |
+
names:
|
| 461 |
+
- left_gripper_activity
|
| 462 |
+
- right_gripper_activity
|
| 463 |
+
dtype: int32
|
| 464 |
+
shape:
|
| 465 |
+
- 2
|
| 466 |
+
gripper_activity_action:
|
| 467 |
+
names:
|
| 468 |
+
- left_gripper_activity
|
| 469 |
+
- right_gripper_activity
|
| 470 |
+
dtype: int32
|
| 471 |
+
shape:
|
| 472 |
+
- 2
|
| 473 |
+
authors:
|
| 474 |
+
contributed_by:
|
| 475 |
+
- name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
|
| 476 |
+
dataset_description: This dataset uses an extended format based on LeRobot and is
|
| 477 |
+
fully compatible with LeRobot.
|
| 478 |
+
homepage: https://flagopen.github.io/RoboCOIN/
|
| 479 |
+
paper: https://arxiv.org/abs/2511.17441
|
| 480 |
+
repository: https://github.com/FlagOpen/RoboCOIN
|
| 481 |
+
contact_info: For questions, issues, or feedback regarding this dataset, please contact
|
| 482 |
+
us.
|
| 483 |
+
support_info: For technical support, please open an issue on our GitHub repository.
|
| 484 |
+
license_details: apache-2.0
|
| 485 |
+
citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\
|
| 486 |
+
\ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\
|
| 487 |
+
\ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
|
| 488 |
+
\ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
|
| 489 |
+
\ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
|
| 490 |
+
\ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
|
| 491 |
+
\ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
|
| 492 |
+
\ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
|
| 493 |
+
\ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
|
| 494 |
+
\ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
|
| 495 |
+
\ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
|
| 496 |
+
\ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
|
| 497 |
+
\ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
|
| 498 |
+
\ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
|
| 499 |
+
\ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\
|
| 500 |
+
\ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n"
|
| 501 |
+
additional_citations: 'If you use this dataset, please also consider citing:
|
| 502 |
+
|
| 503 |
+
LeRobot Framework: https://github.com/huggingface/lerobot
|
| 504 |
+
|
| 505 |
+
'
|
| 506 |
+
version_info: Initial Release
|
| 507 |
+
data_path: data/chunk-{id}/episode_{id}.parquet
|
| 508 |
+
video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
|
| 509 |
+
video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4
|
dataset_info/Galbot_G1_line_trash_can_2.yaml
ADDED
|
@@ -0,0 +1,494 @@
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
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|
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|
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|
|
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|
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|
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|
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|
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|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
| 1 |
+
task_categories:
|
| 2 |
+
- robotics
|
| 3 |
+
language:
|
| 4 |
+
- en
|
| 5 |
+
tags:
|
| 6 |
+
- RoboCOIN
|
| 7 |
+
- LeRobot
|
| 8 |
+
license: apache-2.0
|
| 9 |
+
configs:
|
| 10 |
+
- config_name: default
|
| 11 |
+
data_files: data/chunk-{id}/episode_{id}.parquet
|
| 12 |
+
extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
|
| 13 |
+
in your research/publications—see the "Citation" section for details. You agree
|
| 14 |
+
to not use the dataset to conduct experiments that cause harm to human subjects.
|
| 15 |
+
extra_gated_fields:
|
| 16 |
+
Company/Organization:
|
| 17 |
+
type: text
|
| 18 |
+
description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
|
| 19 |
+
Country:
|
| 20 |
+
type: country
|
| 21 |
+
description: e.g., "Germany", "China", "United States"
|
| 22 |
+
codebase_version: v2.1
|
| 23 |
+
dataset_name: Galbot_G1_line_trash_can_2
|
| 24 |
+
dataset_uuid: 779f8d3a-72dc-4fed-b012-8f9e9c45fc66
|
| 25 |
+
scene_type:
|
| 26 |
+
level1: Household
|
| 27 |
+
level2: Living Room
|
| 28 |
+
level3: null
|
| 29 |
+
level4: null
|
| 30 |
+
level5: null
|
| 31 |
+
env_type: real_world
|
| 32 |
+
objects:
|
| 33 |
+
- id: trash_bag
|
| 34 |
+
name: trash bag
|
| 35 |
+
color: blue
|
| 36 |
+
anchor_policy: static
|
| 37 |
+
- id: '1'
|
| 38 |
+
name: trash bag
|
| 39 |
+
color: red
|
| 40 |
+
anchor_policy: static
|
| 41 |
+
- id: trash_can
|
| 42 |
+
name: trash can
|
| 43 |
+
color: black
|
| 44 |
+
anchor_policy: static
|
| 45 |
+
task_operation_type: fixed_dual_arm
|
| 46 |
+
task_instruction: Place a garbage bag over the trash bin.
|
| 47 |
+
sub_tasks:
|
| 48 |
+
- Place a garbage bag over the trash bin.
|
| 49 |
+
atomic_actions:
|
| 50 |
+
- move
|
| 51 |
+
- place
|
| 52 |
+
robot_name: Galbot_G1
|
| 53 |
+
end_effector_type: two_finger_end_effector
|
| 54 |
+
tele_type: master_arm
|
| 55 |
+
sensor_list:
|
| 56 |
+
- cam_right_head_rgb
|
| 57 |
+
- cam_left_head_rgb
|
| 58 |
+
- cam_right_wrist_rgb
|
| 59 |
+
- cam_left_wrist_rgb
|
| 60 |
+
came_info:
|
| 61 |
+
cam_right_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 62 |
+
pix_fmt=yuv420p
|
| 63 |
+
cam_left_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 64 |
+
pix_fmt=yuv420p
|
| 65 |
+
cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 66 |
+
pix_fmt=yuv420p
|
| 67 |
+
cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 68 |
+
pix_fmt=yuv420p
|
| 69 |
+
depth_enabled: false
|
| 70 |
+
coordinate_definition: right-hand-frame
|
| 71 |
+
joint_rotation_dim: radian
|
| 72 |
+
end_rotation_dim: radian
|
| 73 |
+
end_translation_dim: meter
|
| 74 |
+
annotations:
|
| 75 |
+
- eef_acc_mag_annotation.jsonl
|
| 76 |
+
- eef_direction_annotation.jsonl
|
| 77 |
+
- eef_velocity_annotation.jsonl
|
| 78 |
+
- gripper_activity_annotation.jsonl
|
| 79 |
+
- gripper_mode_annotation.jsonl
|
| 80 |
+
statistics:
|
| 81 |
+
total_episodes: 71
|
| 82 |
+
total_frames: 176366
|
| 83 |
+
fps: 30
|
| 84 |
+
total_tasks: 1
|
| 85 |
+
total_videos: 284
|
| 86 |
+
total_chunks: 1
|
| 87 |
+
chunks_size: 10000
|
| 88 |
+
state_dim: 31
|
| 89 |
+
action_dim: 31
|
| 90 |
+
camera_views: 4
|
| 91 |
+
dataset_size: 11.24 GB
|
| 92 |
+
frame_num: 176366
|
| 93 |
+
frame_range: 1M
|
| 94 |
+
dataset_size: 11.24 GB
|
| 95 |
+
data_structure: 'Galbot_G1_line_trash_can_2_qced_hardlink/
|
| 96 |
+
|
| 97 |
+
|-- annotations
|
| 98 |
+
|
| 99 |
+
| |-- eef_acc_mag_annotation.jsonl
|
| 100 |
+
|
| 101 |
+
| |-- eef_direction_annotation.jsonl
|
| 102 |
+
|
| 103 |
+
| |-- eef_velocity_annotation.jsonl
|
| 104 |
+
|
| 105 |
+
| |-- gripper_activity_annotation.jsonl
|
| 106 |
+
|
| 107 |
+
| `-- gripper_mode_annotation.jsonl
|
| 108 |
+
|
| 109 |
+
|-- data
|
| 110 |
+
|
| 111 |
+
| `-- chunk-000
|
| 112 |
+
|
| 113 |
+
| |-- episode_000000.parquet
|
| 114 |
+
|
| 115 |
+
| |-- episode_000001.parquet
|
| 116 |
+
|
| 117 |
+
| |-- episode_000002.parquet
|
| 118 |
+
|
| 119 |
+
| |-- episode_000003.parquet
|
| 120 |
+
|
| 121 |
+
| |-- episode_000004.parquet
|
| 122 |
+
|
| 123 |
+
| |-- episode_000005.parquet
|
| 124 |
+
|
| 125 |
+
| |-- episode_000006.parquet
|
| 126 |
+
|
| 127 |
+
| |-- episode_000007.parquet
|
| 128 |
+
|
| 129 |
+
| |-- episode_000008.parquet
|
| 130 |
+
|
| 131 |
+
| |-- episode_000009.parquet
|
| 132 |
+
|
| 133 |
+
| |-- episode_000010.parquet
|
| 134 |
+
|
| 135 |
+
| `-- episode_000011.parquet
|
| 136 |
+
|
| 137 |
+
| `-- ... (59 more entries)
|
| 138 |
+
|
| 139 |
+
|-- meta
|
| 140 |
+
|
| 141 |
+
| |-- episodes.jsonl
|
| 142 |
+
|
| 143 |
+
| |-- episodes_stats.jsonl
|
| 144 |
+
|
| 145 |
+
| |-- info.json
|
| 146 |
+
|
| 147 |
+
| `-- tasks.jsonl
|
| 148 |
+
|
| 149 |
+
|-- videos
|
| 150 |
+
|
| 151 |
+
| `-- chunk-000
|
| 152 |
+
|
| 153 |
+
| |-- observation.images.cam_left_head_rgb
|
| 154 |
+
|
| 155 |
+
| |-- observation.images.cam_left_wrist_rgb
|
| 156 |
+
|
| 157 |
+
| |-- observation.images.cam_right_head_rgb
|
| 158 |
+
|
| 159 |
+
| `-- observation.images.cam_right_wrist_rgb
|
| 160 |
+
|
| 161 |
+
|-- info.yaml
|
| 162 |
+
|
| 163 |
+
`-- README.md'
|
| 164 |
+
splits:
|
| 165 |
+
train: 0:70
|
| 166 |
+
features:
|
| 167 |
+
action:
|
| 168 |
+
dtype: float32
|
| 169 |
+
names:
|
| 170 |
+
- right_arm_joint_1_rad
|
| 171 |
+
- right_arm_joint_2_rad
|
| 172 |
+
- right_arm_joint_3_rad
|
| 173 |
+
- right_arm_joint_4_rad
|
| 174 |
+
- right_arm_joint_5_rad
|
| 175 |
+
- right_arm_joint_6_rad
|
| 176 |
+
- right_arm_joint_7_rad
|
| 177 |
+
- right_gripper_open
|
| 178 |
+
- left_arm_joint_1_rad
|
| 179 |
+
- left_arm_joint_2_rad
|
| 180 |
+
- left_arm_joint_3_rad
|
| 181 |
+
- left_arm_joint_4_rad
|
| 182 |
+
- left_arm_joint_5_rad
|
| 183 |
+
- left_arm_joint_6_rad
|
| 184 |
+
- left_arm_joint_7_rad
|
| 185 |
+
- left_gripper_open
|
| 186 |
+
- torso_joint_1_rad
|
| 187 |
+
- torso_joint_2_rad
|
| 188 |
+
- torso_joint_3_rad
|
| 189 |
+
- torso_joint_4_rad
|
| 190 |
+
- torso_joint_5_rad
|
| 191 |
+
- head_joint_1_rad
|
| 192 |
+
- head_joint_2_rad
|
| 193 |
+
- chassis_pos_1
|
| 194 |
+
- chassis_pos_2
|
| 195 |
+
- chassis_pos_3
|
| 196 |
+
- chassis_pos_4
|
| 197 |
+
- chassis_vel_1
|
| 198 |
+
- chassis_vel_2
|
| 199 |
+
- chassis_vel_3
|
| 200 |
+
- chassis_vel_4
|
| 201 |
+
shape:
|
| 202 |
+
- 31
|
| 203 |
+
observation.state:
|
| 204 |
+
dtype: float32
|
| 205 |
+
names:
|
| 206 |
+
- right_arm_joint_1_rad
|
| 207 |
+
- right_arm_joint_2_rad
|
| 208 |
+
- right_arm_joint_3_rad
|
| 209 |
+
- right_arm_joint_4_rad
|
| 210 |
+
- right_arm_joint_5_rad
|
| 211 |
+
- right_arm_joint_6_rad
|
| 212 |
+
- right_arm_joint_7_rad
|
| 213 |
+
- right_gripper_open
|
| 214 |
+
- left_arm_joint_1_rad
|
| 215 |
+
- left_arm_joint_2_rad
|
| 216 |
+
- left_arm_joint_3_rad
|
| 217 |
+
- left_arm_joint_4_rad
|
| 218 |
+
- left_arm_joint_5_rad
|
| 219 |
+
- left_arm_joint_6_rad
|
| 220 |
+
- left_arm_joint_7_rad
|
| 221 |
+
- left_gripper_open
|
| 222 |
+
- torso_joint_1_rad
|
| 223 |
+
- torso_joint_2_rad
|
| 224 |
+
- torso_joint_3_rad
|
| 225 |
+
- torso_joint_4_rad
|
| 226 |
+
- torso_joint_5_rad
|
| 227 |
+
- head_joint_1_rad
|
| 228 |
+
- head_joint_2_rad
|
| 229 |
+
- chassis_pos_1
|
| 230 |
+
- chassis_pos_2
|
| 231 |
+
- chassis_pos_3
|
| 232 |
+
- chassis_pos_4
|
| 233 |
+
- chassis_vel_1
|
| 234 |
+
- chassis_vel_2
|
| 235 |
+
- chassis_vel_3
|
| 236 |
+
- chassis_vel_4
|
| 237 |
+
shape:
|
| 238 |
+
- 31
|
| 239 |
+
observation.images.cam_right_head_rgb:
|
| 240 |
+
dtype: video
|
| 241 |
+
shape:
|
| 242 |
+
- 480
|
| 243 |
+
- 640
|
| 244 |
+
- 3
|
| 245 |
+
names:
|
| 246 |
+
- height
|
| 247 |
+
- width
|
| 248 |
+
- channels
|
| 249 |
+
info:
|
| 250 |
+
video.fps: 30
|
| 251 |
+
video.height: 480
|
| 252 |
+
video.width: 640
|
| 253 |
+
video.channels: 3
|
| 254 |
+
video.codec: libx264
|
| 255 |
+
video.pix_fmt: yuv420p
|
| 256 |
+
video.is_depth_map: false
|
| 257 |
+
has_audio: false
|
| 258 |
+
observation.images.cam_left_head_rgb:
|
| 259 |
+
dtype: video
|
| 260 |
+
shape:
|
| 261 |
+
- 480
|
| 262 |
+
- 640
|
| 263 |
+
- 3
|
| 264 |
+
names:
|
| 265 |
+
- height
|
| 266 |
+
- width
|
| 267 |
+
- channels
|
| 268 |
+
info:
|
| 269 |
+
video.fps: 30
|
| 270 |
+
video.height: 480
|
| 271 |
+
video.width: 640
|
| 272 |
+
video.channels: 3
|
| 273 |
+
video.codec: libx264
|
| 274 |
+
video.pix_fmt: yuv420p
|
| 275 |
+
video.is_depth_map: false
|
| 276 |
+
has_audio: false
|
| 277 |
+
observation.images.cam_right_wrist_rgb:
|
| 278 |
+
dtype: video
|
| 279 |
+
shape:
|
| 280 |
+
- 480
|
| 281 |
+
- 640
|
| 282 |
+
- 3
|
| 283 |
+
names:
|
| 284 |
+
- height
|
| 285 |
+
- width
|
| 286 |
+
- channels
|
| 287 |
+
info:
|
| 288 |
+
video.fps: 30
|
| 289 |
+
video.height: 480
|
| 290 |
+
video.width: 640
|
| 291 |
+
video.channels: 3
|
| 292 |
+
video.codec: libx264
|
| 293 |
+
video.pix_fmt: yuv420p
|
| 294 |
+
video.is_depth_map: false
|
| 295 |
+
has_audio: false
|
| 296 |
+
observation.images.cam_left_wrist_rgb:
|
| 297 |
+
dtype: video
|
| 298 |
+
shape:
|
| 299 |
+
- 480
|
| 300 |
+
- 640
|
| 301 |
+
- 3
|
| 302 |
+
names:
|
| 303 |
+
- height
|
| 304 |
+
- width
|
| 305 |
+
- channels
|
| 306 |
+
info:
|
| 307 |
+
video.fps: 30
|
| 308 |
+
video.height: 480
|
| 309 |
+
video.width: 640
|
| 310 |
+
video.channels: 3
|
| 311 |
+
video.codec: libx264
|
| 312 |
+
video.pix_fmt: yuv420p
|
| 313 |
+
video.is_depth_map: false
|
| 314 |
+
has_audio: false
|
| 315 |
+
timestamp:
|
| 316 |
+
dtype: float32
|
| 317 |
+
shape:
|
| 318 |
+
- 1
|
| 319 |
+
names: null
|
| 320 |
+
frame_index:
|
| 321 |
+
dtype: int64
|
| 322 |
+
shape:
|
| 323 |
+
- 1
|
| 324 |
+
names: null
|
| 325 |
+
episode_index:
|
| 326 |
+
dtype: int64
|
| 327 |
+
shape:
|
| 328 |
+
- 1
|
| 329 |
+
names: null
|
| 330 |
+
index:
|
| 331 |
+
dtype: int64
|
| 332 |
+
shape:
|
| 333 |
+
- 1
|
| 334 |
+
names: null
|
| 335 |
+
task_index:
|
| 336 |
+
dtype: int64
|
| 337 |
+
shape:
|
| 338 |
+
- 1
|
| 339 |
+
names: null
|
| 340 |
+
gripper_open_scale_state:
|
| 341 |
+
names:
|
| 342 |
+
- left_gripper_open_scale
|
| 343 |
+
- right_gripper_open_scale
|
| 344 |
+
dtype: float64
|
| 345 |
+
shape:
|
| 346 |
+
- 2
|
| 347 |
+
gripper_open_scale_action:
|
| 348 |
+
names:
|
| 349 |
+
- left_gripper_open_scale
|
| 350 |
+
- right_gripper_open_scale
|
| 351 |
+
dtype: float64
|
| 352 |
+
shape:
|
| 353 |
+
- 2
|
| 354 |
+
eef_sim_pose_state:
|
| 355 |
+
names:
|
| 356 |
+
- left_eef_pos_x
|
| 357 |
+
- left_eef_pos_y
|
| 358 |
+
- left_eef_pos_z
|
| 359 |
+
- left_eef_rot_x
|
| 360 |
+
- left_eef_rot_y
|
| 361 |
+
- left_eef_rot_z
|
| 362 |
+
- right_eef_pos_x
|
| 363 |
+
- right_eef_pos_y
|
| 364 |
+
- right_eef_pos_z
|
| 365 |
+
- right_eef_rot_x
|
| 366 |
+
- right_eef_rot_y
|
| 367 |
+
- right_eef_rot_z
|
| 368 |
+
dtype: float32
|
| 369 |
+
shape:
|
| 370 |
+
- 12
|
| 371 |
+
eef_sim_pose_action:
|
| 372 |
+
names:
|
| 373 |
+
- left_eef_pos_x
|
| 374 |
+
- left_eef_pos_y
|
| 375 |
+
- left_eef_pos_z
|
| 376 |
+
- left_eef_rot_x
|
| 377 |
+
- left_eef_rot_y
|
| 378 |
+
- left_eef_rot_z
|
| 379 |
+
- right_eef_pos_x
|
| 380 |
+
- right_eef_pos_y
|
| 381 |
+
- right_eef_pos_z
|
| 382 |
+
- right_eef_rot_x
|
| 383 |
+
- right_eef_rot_y
|
| 384 |
+
- right_eef_rot_z
|
| 385 |
+
dtype: float32
|
| 386 |
+
shape:
|
| 387 |
+
- 12
|
| 388 |
+
eef_direction_state:
|
| 389 |
+
names:
|
| 390 |
+
- left_eef_direction
|
| 391 |
+
- right_eef_direction
|
| 392 |
+
dtype: int32
|
| 393 |
+
shape:
|
| 394 |
+
- 2
|
| 395 |
+
eef_direction_action:
|
| 396 |
+
names:
|
| 397 |
+
- left_eef_direction
|
| 398 |
+
- right_eef_direction
|
| 399 |
+
dtype: int32
|
| 400 |
+
shape:
|
| 401 |
+
- 2
|
| 402 |
+
eef_velocity_state:
|
| 403 |
+
names:
|
| 404 |
+
- left_eef_velocity
|
| 405 |
+
- right_eef_velocity
|
| 406 |
+
dtype: int32
|
| 407 |
+
shape:
|
| 408 |
+
- 2
|
| 409 |
+
eef_velocity_action:
|
| 410 |
+
names:
|
| 411 |
+
- left_eef_velocity
|
| 412 |
+
- right_eef_velocity
|
| 413 |
+
dtype: int32
|
| 414 |
+
shape:
|
| 415 |
+
- 2
|
| 416 |
+
eef_acc_mag_state:
|
| 417 |
+
names:
|
| 418 |
+
- left_eef_acc_mag
|
| 419 |
+
- right_eef_acc_mag
|
| 420 |
+
dtype: int32
|
| 421 |
+
shape:
|
| 422 |
+
- 2
|
| 423 |
+
eef_acc_mag_action:
|
| 424 |
+
names:
|
| 425 |
+
- left_eef_acc_mag
|
| 426 |
+
- right_eef_acc_mag
|
| 427 |
+
dtype: int32
|
| 428 |
+
shape:
|
| 429 |
+
- 2
|
| 430 |
+
gripper_mode_state:
|
| 431 |
+
names:
|
| 432 |
+
- left_gripper_mode
|
| 433 |
+
- right_gripper_mode
|
| 434 |
+
dtype: int32
|
| 435 |
+
shape:
|
| 436 |
+
- 2
|
| 437 |
+
gripper_mode_action:
|
| 438 |
+
names:
|
| 439 |
+
- left_gripper_mode
|
| 440 |
+
- right_gripper_mode
|
| 441 |
+
dtype: int32
|
| 442 |
+
shape:
|
| 443 |
+
- 2
|
| 444 |
+
gripper_activity_state:
|
| 445 |
+
names:
|
| 446 |
+
- left_gripper_activity
|
| 447 |
+
- right_gripper_activity
|
| 448 |
+
dtype: int32
|
| 449 |
+
shape:
|
| 450 |
+
- 2
|
| 451 |
+
gripper_activity_action:
|
| 452 |
+
names:
|
| 453 |
+
- left_gripper_activity
|
| 454 |
+
- right_gripper_activity
|
| 455 |
+
dtype: int32
|
| 456 |
+
shape:
|
| 457 |
+
- 2
|
| 458 |
+
authors:
|
| 459 |
+
contributed_by:
|
| 460 |
+
- name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
|
| 461 |
+
dataset_description: This dataset uses an extended format based on LeRobot and is
|
| 462 |
+
fully compatible with LeRobot.
|
| 463 |
+
homepage: https://flagopen.github.io/RoboCOIN/
|
| 464 |
+
paper: https://arxiv.org/abs/2511.17441
|
| 465 |
+
repository: https://github.com/FlagOpen/RoboCOIN
|
| 466 |
+
contact_info: For questions, issues, or feedback regarding this dataset, please contact
|
| 467 |
+
us.
|
| 468 |
+
support_info: For technical support, please open an issue on our GitHub repository.
|
| 469 |
+
license_details: apache-2.0
|
| 470 |
+
citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\
|
| 471 |
+
\ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\
|
| 472 |
+
\ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
|
| 473 |
+
\ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
|
| 474 |
+
\ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
|
| 475 |
+
\ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
|
| 476 |
+
\ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
|
| 477 |
+
\ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
|
| 478 |
+
\ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
|
| 479 |
+
\ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
|
| 480 |
+
\ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
|
| 481 |
+
\ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
|
| 482 |
+
\ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
|
| 483 |
+
\ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
|
| 484 |
+
\ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\
|
| 485 |
+
\ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n"
|
| 486 |
+
additional_citations: 'If you use this dataset, please also consider citing:
|
| 487 |
+
|
| 488 |
+
LeRobot Framework: https://github.com/huggingface/lerobot
|
| 489 |
+
|
| 490 |
+
'
|
| 491 |
+
version_info: Initial Release
|
| 492 |
+
data_path: data/chunk-{id}/episode_{id}.parquet
|
| 493 |
+
video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
|
| 494 |
+
video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4
|
dataset_info/Galbot_G1_line_trash_can_3.yaml
ADDED
|
@@ -0,0 +1,510 @@
|
|
|
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|
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|
|
| 1 |
+
task_categories:
|
| 2 |
+
- robotics
|
| 3 |
+
language:
|
| 4 |
+
- en
|
| 5 |
+
tags:
|
| 6 |
+
- RoboCOIN
|
| 7 |
+
- LeRobot
|
| 8 |
+
license: apache-2.0
|
| 9 |
+
configs:
|
| 10 |
+
- config_name: default
|
| 11 |
+
data_files: data/chunk-{id}/episode_{id}.parquet
|
| 12 |
+
extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
|
| 13 |
+
in your research/publications—see the "Citation" section for details. You agree
|
| 14 |
+
to not use the dataset to conduct experiments that cause harm to human subjects.
|
| 15 |
+
extra_gated_fields:
|
| 16 |
+
Company/Organization:
|
| 17 |
+
type: text
|
| 18 |
+
description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
|
| 19 |
+
Country:
|
| 20 |
+
type: country
|
| 21 |
+
description: e.g., "Germany", "China", "United States"
|
| 22 |
+
codebase_version: v2.1
|
| 23 |
+
dataset_name: Galbot_G1_line_trash_can_3
|
| 24 |
+
dataset_uuid: 3b533f42-dc34-4e77-ad1d-b22e04531544
|
| 25 |
+
scene_type:
|
| 26 |
+
level1: Household
|
| 27 |
+
level2: Living Room
|
| 28 |
+
level3: null
|
| 29 |
+
level4: null
|
| 30 |
+
level5: null
|
| 31 |
+
env_type: real_world
|
| 32 |
+
objects:
|
| 33 |
+
- id: trash_bag
|
| 34 |
+
name: trash bag
|
| 35 |
+
color: black
|
| 36 |
+
anchor_policy: static
|
| 37 |
+
- id: trash_can
|
| 38 |
+
name: trash can
|
| 39 |
+
color: white
|
| 40 |
+
anchor_policy: static
|
| 41 |
+
- id: wall
|
| 42 |
+
name: wall
|
| 43 |
+
color: white
|
| 44 |
+
anchor_policy: static
|
| 45 |
+
task_operation_type: fixed_dual_arm
|
| 46 |
+
task_instruction: Place the garbage bag over the trash bin.
|
| 47 |
+
sub_tasks:
|
| 48 |
+
- Place the garbage bag over the trash bin.
|
| 49 |
+
atomic_actions:
|
| 50 |
+
- grasp
|
| 51 |
+
- open
|
| 52 |
+
- wear
|
| 53 |
+
robot_name: Galbot_G1
|
| 54 |
+
end_effector_type: two_finger_end_effector
|
| 55 |
+
tele_type: master_arm
|
| 56 |
+
sensor_list:
|
| 57 |
+
- cam_right_head_rgb
|
| 58 |
+
- cam_left_head_rgb
|
| 59 |
+
- cam_right_wrist_rgb
|
| 60 |
+
- cam_left_wrist_rgb
|
| 61 |
+
came_info:
|
| 62 |
+
cam_right_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 63 |
+
pix_fmt=yuv420p
|
| 64 |
+
cam_left_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 65 |
+
pix_fmt=yuv420p
|
| 66 |
+
cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 67 |
+
pix_fmt=yuv420p
|
| 68 |
+
cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 69 |
+
pix_fmt=yuv420p
|
| 70 |
+
depth_enabled: false
|
| 71 |
+
coordinate_definition: right-hand-frame
|
| 72 |
+
joint_rotation_dim: radian
|
| 73 |
+
end_rotation_dim: radian
|
| 74 |
+
end_translation_dim: meter
|
| 75 |
+
base_translation_dim: meter
|
| 76 |
+
annotations:
|
| 77 |
+
- eef_acc_mag_annotation.jsonl
|
| 78 |
+
- eef_direction_annotation.jsonl
|
| 79 |
+
- eef_velocity_annotation.jsonl
|
| 80 |
+
- gripper_activity_annotation.jsonl
|
| 81 |
+
- gripper_mode_annotation.jsonl
|
| 82 |
+
statistics:
|
| 83 |
+
total_episodes: 277
|
| 84 |
+
total_frames: 612547
|
| 85 |
+
fps: 30
|
| 86 |
+
total_tasks: 1
|
| 87 |
+
total_videos: 1108
|
| 88 |
+
total_chunks: 1
|
| 89 |
+
chunks_size: 10000
|
| 90 |
+
state_dim: 38
|
| 91 |
+
action_dim: 38
|
| 92 |
+
camera_views: 4
|
| 93 |
+
dataset_size: 19.24 GB
|
| 94 |
+
frame_num: 612547
|
| 95 |
+
frame_range: 1M
|
| 96 |
+
dataset_size: 19.24 GB
|
| 97 |
+
data_structure: 'Galbot_G1_line_trash_can_3_qced_hardlink/
|
| 98 |
+
|
| 99 |
+
|-- annotations
|
| 100 |
+
|
| 101 |
+
| |-- eef_acc_mag_annotation.jsonl
|
| 102 |
+
|
| 103 |
+
| |-- eef_direction_annotation.jsonl
|
| 104 |
+
|
| 105 |
+
| |-- eef_velocity_annotation.jsonl
|
| 106 |
+
|
| 107 |
+
| |-- gripper_activity_annotation.jsonl
|
| 108 |
+
|
| 109 |
+
| `-- gripper_mode_annotation.jsonl
|
| 110 |
+
|
| 111 |
+
|-- data
|
| 112 |
+
|
| 113 |
+
| `-- chunk-000
|
| 114 |
+
|
| 115 |
+
| |-- episode_000000.parquet
|
| 116 |
+
|
| 117 |
+
| |-- episode_000001.parquet
|
| 118 |
+
|
| 119 |
+
| |-- episode_000002.parquet
|
| 120 |
+
|
| 121 |
+
| |-- episode_000003.parquet
|
| 122 |
+
|
| 123 |
+
| |-- episode_000004.parquet
|
| 124 |
+
|
| 125 |
+
| |-- episode_000005.parquet
|
| 126 |
+
|
| 127 |
+
| |-- episode_000006.parquet
|
| 128 |
+
|
| 129 |
+
| |-- episode_000007.parquet
|
| 130 |
+
|
| 131 |
+
| |-- episode_000008.parquet
|
| 132 |
+
|
| 133 |
+
| |-- episode_000009.parquet
|
| 134 |
+
|
| 135 |
+
| |-- episode_000010.parquet
|
| 136 |
+
|
| 137 |
+
| `-- episode_000011.parquet
|
| 138 |
+
|
| 139 |
+
| `-- ... (265 more entries)
|
| 140 |
+
|
| 141 |
+
|-- meta
|
| 142 |
+
|
| 143 |
+
| |-- episodes.jsonl
|
| 144 |
+
|
| 145 |
+
| |-- episodes_stats.jsonl
|
| 146 |
+
|
| 147 |
+
| |-- info.json
|
| 148 |
+
|
| 149 |
+
| `-- tasks.jsonl
|
| 150 |
+
|
| 151 |
+
|-- videos
|
| 152 |
+
|
| 153 |
+
| `-- chunk-000
|
| 154 |
+
|
| 155 |
+
| |-- observation.images.cam_left_head_rgb
|
| 156 |
+
|
| 157 |
+
| |-- observation.images.cam_left_wrist_rgb
|
| 158 |
+
|
| 159 |
+
| |-- observation.images.cam_right_head_rgb
|
| 160 |
+
|
| 161 |
+
| `-- observation.images.cam_right_wrist_rgb
|
| 162 |
+
|
| 163 |
+
|-- info.yaml
|
| 164 |
+
|
| 165 |
+
`-- README.md'
|
| 166 |
+
splits:
|
| 167 |
+
train: 0:276
|
| 168 |
+
features:
|
| 169 |
+
action:
|
| 170 |
+
dtype: float32
|
| 171 |
+
names:
|
| 172 |
+
- right_arm_joint_1_rad
|
| 173 |
+
- right_arm_joint_2_rad
|
| 174 |
+
- right_arm_joint_3_rad
|
| 175 |
+
- right_arm_joint_4_rad
|
| 176 |
+
- right_arm_joint_5_rad
|
| 177 |
+
- right_arm_joint_6_rad
|
| 178 |
+
- right_arm_joint_7_rad
|
| 179 |
+
- right_gripper_open
|
| 180 |
+
- left_arm_joint_1_rad
|
| 181 |
+
- left_arm_joint_2_rad
|
| 182 |
+
- left_arm_joint_3_rad
|
| 183 |
+
- left_arm_joint_4_rad
|
| 184 |
+
- left_arm_joint_5_rad
|
| 185 |
+
- left_arm_joint_6_rad
|
| 186 |
+
- left_arm_joint_7_rad
|
| 187 |
+
- left_gripper_open
|
| 188 |
+
- torso_joint_1_rad
|
| 189 |
+
- torso_joint_2_rad
|
| 190 |
+
- torso_joint_3_rad
|
| 191 |
+
- torso_joint_4_rad
|
| 192 |
+
- torso_joint_5_rad
|
| 193 |
+
- head_joint_1_rad
|
| 194 |
+
- head_joint_2_rad
|
| 195 |
+
- chassis_pos_1
|
| 196 |
+
- chassis_pos_2
|
| 197 |
+
- chassis_pos_3
|
| 198 |
+
- chassis_pos_4
|
| 199 |
+
- chassis_vel_1
|
| 200 |
+
- chassis_vel_2
|
| 201 |
+
- chassis_vel_3
|
| 202 |
+
- chassis_vel_4
|
| 203 |
+
- base_pos_x_m
|
| 204 |
+
- base_pos_y_m
|
| 205 |
+
- base_orient_quat_z
|
| 206 |
+
- base_orient_quat_w
|
| 207 |
+
- base_vel_x_m_s
|
| 208 |
+
- base_vel_y_m_s
|
| 209 |
+
- base_vel_angular_z_rad_s
|
| 210 |
+
shape:
|
| 211 |
+
- 38
|
| 212 |
+
observation.state:
|
| 213 |
+
dtype: float32
|
| 214 |
+
names:
|
| 215 |
+
- right_arm_joint_1_rad
|
| 216 |
+
- right_arm_joint_2_rad
|
| 217 |
+
- right_arm_joint_3_rad
|
| 218 |
+
- right_arm_joint_4_rad
|
| 219 |
+
- right_arm_joint_5_rad
|
| 220 |
+
- right_arm_joint_6_rad
|
| 221 |
+
- right_arm_joint_7_rad
|
| 222 |
+
- right_gripper_open
|
| 223 |
+
- left_arm_joint_1_rad
|
| 224 |
+
- left_arm_joint_2_rad
|
| 225 |
+
- left_arm_joint_3_rad
|
| 226 |
+
- left_arm_joint_4_rad
|
| 227 |
+
- left_arm_joint_5_rad
|
| 228 |
+
- left_arm_joint_6_rad
|
| 229 |
+
- left_arm_joint_7_rad
|
| 230 |
+
- left_gripper_open
|
| 231 |
+
- torso_joint_1_rad
|
| 232 |
+
- torso_joint_2_rad
|
| 233 |
+
- torso_joint_3_rad
|
| 234 |
+
- torso_joint_4_rad
|
| 235 |
+
- torso_joint_5_rad
|
| 236 |
+
- head_joint_1_rad
|
| 237 |
+
- head_joint_2_rad
|
| 238 |
+
- chassis_pos_1
|
| 239 |
+
- chassis_pos_2
|
| 240 |
+
- chassis_pos_3
|
| 241 |
+
- chassis_pos_4
|
| 242 |
+
- chassis_vel_1
|
| 243 |
+
- chassis_vel_2
|
| 244 |
+
- chassis_vel_3
|
| 245 |
+
- chassis_vel_4
|
| 246 |
+
- base_pos_x_m
|
| 247 |
+
- base_pos_y_m
|
| 248 |
+
- base_orient_quat_z
|
| 249 |
+
- base_orient_quat_w
|
| 250 |
+
- base_vel_x_m_s
|
| 251 |
+
- base_vel_y_m_s
|
| 252 |
+
- base_vel_angular_z_rad_s
|
| 253 |
+
shape:
|
| 254 |
+
- 38
|
| 255 |
+
observation.images.cam_right_head_rgb:
|
| 256 |
+
dtype: video
|
| 257 |
+
shape:
|
| 258 |
+
- 480
|
| 259 |
+
- 640
|
| 260 |
+
- 3
|
| 261 |
+
names:
|
| 262 |
+
- height
|
| 263 |
+
- width
|
| 264 |
+
- channels
|
| 265 |
+
info:
|
| 266 |
+
video.fps: 30
|
| 267 |
+
video.height: 480
|
| 268 |
+
video.width: 640
|
| 269 |
+
video.channels: 3
|
| 270 |
+
video.codec: libx264
|
| 271 |
+
video.pix_fmt: yuv420p
|
| 272 |
+
video.is_depth_map: false
|
| 273 |
+
has_audio: false
|
| 274 |
+
observation.images.cam_left_head_rgb:
|
| 275 |
+
dtype: video
|
| 276 |
+
shape:
|
| 277 |
+
- 480
|
| 278 |
+
- 640
|
| 279 |
+
- 3
|
| 280 |
+
names:
|
| 281 |
+
- height
|
| 282 |
+
- width
|
| 283 |
+
- channels
|
| 284 |
+
info:
|
| 285 |
+
video.fps: 30
|
| 286 |
+
video.height: 480
|
| 287 |
+
video.width: 640
|
| 288 |
+
video.channels: 3
|
| 289 |
+
video.codec: libx264
|
| 290 |
+
video.pix_fmt: yuv420p
|
| 291 |
+
video.is_depth_map: false
|
| 292 |
+
has_audio: false
|
| 293 |
+
observation.images.cam_right_wrist_rgb:
|
| 294 |
+
dtype: video
|
| 295 |
+
shape:
|
| 296 |
+
- 480
|
| 297 |
+
- 640
|
| 298 |
+
- 3
|
| 299 |
+
names:
|
| 300 |
+
- height
|
| 301 |
+
- width
|
| 302 |
+
- channels
|
| 303 |
+
info:
|
| 304 |
+
video.fps: 30
|
| 305 |
+
video.height: 480
|
| 306 |
+
video.width: 640
|
| 307 |
+
video.channels: 3
|
| 308 |
+
video.codec: libx264
|
| 309 |
+
video.pix_fmt: yuv420p
|
| 310 |
+
video.is_depth_map: false
|
| 311 |
+
has_audio: false
|
| 312 |
+
observation.images.cam_left_wrist_rgb:
|
| 313 |
+
dtype: video
|
| 314 |
+
shape:
|
| 315 |
+
- 480
|
| 316 |
+
- 640
|
| 317 |
+
- 3
|
| 318 |
+
names:
|
| 319 |
+
- height
|
| 320 |
+
- width
|
| 321 |
+
- channels
|
| 322 |
+
info:
|
| 323 |
+
video.fps: 30
|
| 324 |
+
video.height: 480
|
| 325 |
+
video.width: 640
|
| 326 |
+
video.channels: 3
|
| 327 |
+
video.codec: libx264
|
| 328 |
+
video.pix_fmt: yuv420p
|
| 329 |
+
video.is_depth_map: false
|
| 330 |
+
has_audio: false
|
| 331 |
+
timestamp:
|
| 332 |
+
dtype: float32
|
| 333 |
+
shape:
|
| 334 |
+
- 1
|
| 335 |
+
names: null
|
| 336 |
+
frame_index:
|
| 337 |
+
dtype: int64
|
| 338 |
+
shape:
|
| 339 |
+
- 1
|
| 340 |
+
names: null
|
| 341 |
+
episode_index:
|
| 342 |
+
dtype: int64
|
| 343 |
+
shape:
|
| 344 |
+
- 1
|
| 345 |
+
names: null
|
| 346 |
+
index:
|
| 347 |
+
dtype: int64
|
| 348 |
+
shape:
|
| 349 |
+
- 1
|
| 350 |
+
names: null
|
| 351 |
+
task_index:
|
| 352 |
+
dtype: int64
|
| 353 |
+
shape:
|
| 354 |
+
- 1
|
| 355 |
+
names: null
|
| 356 |
+
gripper_open_scale_state:
|
| 357 |
+
names:
|
| 358 |
+
- left_gripper_open_scale
|
| 359 |
+
- right_gripper_open_scale
|
| 360 |
+
dtype: float64
|
| 361 |
+
shape:
|
| 362 |
+
- 2
|
| 363 |
+
gripper_open_scale_action:
|
| 364 |
+
names:
|
| 365 |
+
- left_gripper_open_scale
|
| 366 |
+
- right_gripper_open_scale
|
| 367 |
+
dtype: float64
|
| 368 |
+
shape:
|
| 369 |
+
- 2
|
| 370 |
+
eef_sim_pose_state:
|
| 371 |
+
names:
|
| 372 |
+
- left_eef_pos_x
|
| 373 |
+
- left_eef_pos_y
|
| 374 |
+
- left_eef_pos_z
|
| 375 |
+
- left_eef_rot_x
|
| 376 |
+
- left_eef_rot_y
|
| 377 |
+
- left_eef_rot_z
|
| 378 |
+
- right_eef_pos_x
|
| 379 |
+
- right_eef_pos_y
|
| 380 |
+
- right_eef_pos_z
|
| 381 |
+
- right_eef_rot_x
|
| 382 |
+
- right_eef_rot_y
|
| 383 |
+
- right_eef_rot_z
|
| 384 |
+
dtype: float32
|
| 385 |
+
shape:
|
| 386 |
+
- 12
|
| 387 |
+
eef_sim_pose_action:
|
| 388 |
+
names:
|
| 389 |
+
- left_eef_pos_x
|
| 390 |
+
- left_eef_pos_y
|
| 391 |
+
- left_eef_pos_z
|
| 392 |
+
- left_eef_rot_x
|
| 393 |
+
- left_eef_rot_y
|
| 394 |
+
- left_eef_rot_z
|
| 395 |
+
- right_eef_pos_x
|
| 396 |
+
- right_eef_pos_y
|
| 397 |
+
- right_eef_pos_z
|
| 398 |
+
- right_eef_rot_x
|
| 399 |
+
- right_eef_rot_y
|
| 400 |
+
- right_eef_rot_z
|
| 401 |
+
dtype: float32
|
| 402 |
+
shape:
|
| 403 |
+
- 12
|
| 404 |
+
eef_direction_state:
|
| 405 |
+
names:
|
| 406 |
+
- left_eef_direction
|
| 407 |
+
- right_eef_direction
|
| 408 |
+
dtype: int32
|
| 409 |
+
shape:
|
| 410 |
+
- 2
|
| 411 |
+
eef_direction_action:
|
| 412 |
+
names:
|
| 413 |
+
- left_eef_direction
|
| 414 |
+
- right_eef_direction
|
| 415 |
+
dtype: int32
|
| 416 |
+
shape:
|
| 417 |
+
- 2
|
| 418 |
+
eef_velocity_state:
|
| 419 |
+
names:
|
| 420 |
+
- left_eef_velocity
|
| 421 |
+
- right_eef_velocity
|
| 422 |
+
dtype: int32
|
| 423 |
+
shape:
|
| 424 |
+
- 2
|
| 425 |
+
eef_velocity_action:
|
| 426 |
+
names:
|
| 427 |
+
- left_eef_velocity
|
| 428 |
+
- right_eef_velocity
|
| 429 |
+
dtype: int32
|
| 430 |
+
shape:
|
| 431 |
+
- 2
|
| 432 |
+
eef_acc_mag_state:
|
| 433 |
+
names:
|
| 434 |
+
- left_eef_acc_mag
|
| 435 |
+
- right_eef_acc_mag
|
| 436 |
+
dtype: int32
|
| 437 |
+
shape:
|
| 438 |
+
- 2
|
| 439 |
+
eef_acc_mag_action:
|
| 440 |
+
names:
|
| 441 |
+
- left_eef_acc_mag
|
| 442 |
+
- right_eef_acc_mag
|
| 443 |
+
dtype: int32
|
| 444 |
+
shape:
|
| 445 |
+
- 2
|
| 446 |
+
gripper_mode_state:
|
| 447 |
+
names:
|
| 448 |
+
- left_gripper_mode
|
| 449 |
+
- right_gripper_mode
|
| 450 |
+
dtype: int32
|
| 451 |
+
shape:
|
| 452 |
+
- 2
|
| 453 |
+
gripper_mode_action:
|
| 454 |
+
names:
|
| 455 |
+
- left_gripper_mode
|
| 456 |
+
- right_gripper_mode
|
| 457 |
+
dtype: int32
|
| 458 |
+
shape:
|
| 459 |
+
- 2
|
| 460 |
+
gripper_activity_state:
|
| 461 |
+
names:
|
| 462 |
+
- left_gripper_activity
|
| 463 |
+
- right_gripper_activity
|
| 464 |
+
dtype: int32
|
| 465 |
+
shape:
|
| 466 |
+
- 2
|
| 467 |
+
gripper_activity_action:
|
| 468 |
+
names:
|
| 469 |
+
- left_gripper_activity
|
| 470 |
+
- right_gripper_activity
|
| 471 |
+
dtype: int32
|
| 472 |
+
shape:
|
| 473 |
+
- 2
|
| 474 |
+
authors:
|
| 475 |
+
contributed_by:
|
| 476 |
+
- name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
|
| 477 |
+
dataset_description: This dataset uses an extended format based on LeRobot and is
|
| 478 |
+
fully compatible with LeRobot.
|
| 479 |
+
homepage: https://flagopen.github.io/RoboCOIN/
|
| 480 |
+
paper: https://arxiv.org/abs/2511.17441
|
| 481 |
+
repository: https://github.com/FlagOpen/RoboCOIN
|
| 482 |
+
contact_info: For questions, issues, or feedback regarding this dataset, please contact
|
| 483 |
+
us.
|
| 484 |
+
support_info: For technical support, please open an issue on our GitHub repository.
|
| 485 |
+
license_details: apache-2.0
|
| 486 |
+
citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\
|
| 487 |
+
\ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\
|
| 488 |
+
\ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
|
| 489 |
+
\ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
|
| 490 |
+
\ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
|
| 491 |
+
\ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
|
| 492 |
+
\ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
|
| 493 |
+
\ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
|
| 494 |
+
\ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
|
| 495 |
+
\ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
|
| 496 |
+
\ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
|
| 497 |
+
\ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
|
| 498 |
+
\ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
|
| 499 |
+
\ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
|
| 500 |
+
\ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\
|
| 501 |
+
\ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n"
|
| 502 |
+
additional_citations: 'If you use this dataset, please also consider citing:
|
| 503 |
+
|
| 504 |
+
LeRobot Framework: https://github.com/huggingface/lerobot
|
| 505 |
+
|
| 506 |
+
'
|
| 507 |
+
version_info: Initial Release
|
| 508 |
+
data_path: data/chunk-{id}/episode_{id}.parquet
|
| 509 |
+
video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
|
| 510 |
+
video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4
|
dataset_info/Galbot_G1_line_trash_can_4.yaml
ADDED
|
@@ -0,0 +1,511 @@
|
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|
|
|
| 1 |
+
task_categories:
|
| 2 |
+
- robotics
|
| 3 |
+
language:
|
| 4 |
+
- en
|
| 5 |
+
tags:
|
| 6 |
+
- RoboCOIN
|
| 7 |
+
- LeRobot
|
| 8 |
+
license: apache-2.0
|
| 9 |
+
configs:
|
| 10 |
+
- config_name: default
|
| 11 |
+
data_files: data/chunk-{id}/episode_{id}.parquet
|
| 12 |
+
extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
|
| 13 |
+
in your research/publications—see the "Citation" section for details. You agree
|
| 14 |
+
to not use the dataset to conduct experiments that cause harm to human subjects.
|
| 15 |
+
extra_gated_fields:
|
| 16 |
+
Company/Organization:
|
| 17 |
+
type: text
|
| 18 |
+
description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
|
| 19 |
+
Country:
|
| 20 |
+
type: country
|
| 21 |
+
description: e.g., "Germany", "China", "United States"
|
| 22 |
+
codebase_version: v2.1
|
| 23 |
+
dataset_name: Galbot_G1_line_trash_can_4
|
| 24 |
+
dataset_uuid: c2db0b0e-a6ad-40a7-b4c5-8abf9bed462c
|
| 25 |
+
scene_type:
|
| 26 |
+
level1: Household
|
| 27 |
+
level2: Living Room
|
| 28 |
+
level3: null
|
| 29 |
+
level4: null
|
| 30 |
+
level5: null
|
| 31 |
+
env_type: real_world
|
| 32 |
+
objects:
|
| 33 |
+
- id: trash_bag
|
| 34 |
+
name: trash bag
|
| 35 |
+
color: none
|
| 36 |
+
anchor_policy: static
|
| 37 |
+
- id: trash_can
|
| 38 |
+
name: trash can
|
| 39 |
+
color: black
|
| 40 |
+
anchor_policy: static
|
| 41 |
+
- id: wall
|
| 42 |
+
name: wall
|
| 43 |
+
color: white
|
| 44 |
+
anchor_policy: static
|
| 45 |
+
task_operation_type: fixed_dual_arm
|
| 46 |
+
task_instruction: Pick up the garbage bag from the wall and place it over the trash
|
| 47 |
+
bin.
|
| 48 |
+
sub_tasks:
|
| 49 |
+
- Pick up the garbage bag from the wall and place it over the trash bin.
|
| 50 |
+
atomic_actions:
|
| 51 |
+
- grasp
|
| 52 |
+
- open
|
| 53 |
+
- wear
|
| 54 |
+
robot_name: Galbot_G1
|
| 55 |
+
end_effector_type: two_finger_end_effector
|
| 56 |
+
tele_type: master_arm
|
| 57 |
+
sensor_list:
|
| 58 |
+
- cam_right_head_rgb
|
| 59 |
+
- cam_left_head_rgb
|
| 60 |
+
- cam_right_wrist_rgb
|
| 61 |
+
- cam_left_wrist_rgb
|
| 62 |
+
came_info:
|
| 63 |
+
cam_right_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 64 |
+
pix_fmt=yuv420p
|
| 65 |
+
cam_left_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 66 |
+
pix_fmt=yuv420p
|
| 67 |
+
cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 68 |
+
pix_fmt=yuv420p
|
| 69 |
+
cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 70 |
+
pix_fmt=yuv420p
|
| 71 |
+
depth_enabled: false
|
| 72 |
+
coordinate_definition: right-hand-frame
|
| 73 |
+
joint_rotation_dim: radian
|
| 74 |
+
end_rotation_dim: radian
|
| 75 |
+
end_translation_dim: meter
|
| 76 |
+
base_translation_dim: meter
|
| 77 |
+
annotations:
|
| 78 |
+
- eef_acc_mag_annotation.jsonl
|
| 79 |
+
- eef_direction_annotation.jsonl
|
| 80 |
+
- eef_velocity_annotation.jsonl
|
| 81 |
+
- gripper_activity_annotation.jsonl
|
| 82 |
+
- gripper_mode_annotation.jsonl
|
| 83 |
+
statistics:
|
| 84 |
+
total_episodes: 256
|
| 85 |
+
total_frames: 570705
|
| 86 |
+
fps: 30
|
| 87 |
+
total_tasks: 1
|
| 88 |
+
total_videos: 1024
|
| 89 |
+
total_chunks: 1
|
| 90 |
+
chunks_size: 10000
|
| 91 |
+
state_dim: 38
|
| 92 |
+
action_dim: 38
|
| 93 |
+
camera_views: 4
|
| 94 |
+
dataset_size: 21.95 GB
|
| 95 |
+
frame_num: 570705
|
| 96 |
+
frame_range: 1M
|
| 97 |
+
dataset_size: 21.95 GB
|
| 98 |
+
data_structure: 'Galbot_G1_line_trash_can_4_qced_hardlink/
|
| 99 |
+
|
| 100 |
+
|-- annotations
|
| 101 |
+
|
| 102 |
+
| |-- eef_acc_mag_annotation.jsonl
|
| 103 |
+
|
| 104 |
+
| |-- eef_direction_annotation.jsonl
|
| 105 |
+
|
| 106 |
+
| |-- eef_velocity_annotation.jsonl
|
| 107 |
+
|
| 108 |
+
| |-- gripper_activity_annotation.jsonl
|
| 109 |
+
|
| 110 |
+
| `-- gripper_mode_annotation.jsonl
|
| 111 |
+
|
| 112 |
+
|-- data
|
| 113 |
+
|
| 114 |
+
| `-- chunk-000
|
| 115 |
+
|
| 116 |
+
| |-- episode_000000.parquet
|
| 117 |
+
|
| 118 |
+
| |-- episode_000001.parquet
|
| 119 |
+
|
| 120 |
+
| |-- episode_000002.parquet
|
| 121 |
+
|
| 122 |
+
| |-- episode_000003.parquet
|
| 123 |
+
|
| 124 |
+
| |-- episode_000004.parquet
|
| 125 |
+
|
| 126 |
+
| |-- episode_000005.parquet
|
| 127 |
+
|
| 128 |
+
| |-- episode_000006.parquet
|
| 129 |
+
|
| 130 |
+
| |-- episode_000007.parquet
|
| 131 |
+
|
| 132 |
+
| |-- episode_000008.parquet
|
| 133 |
+
|
| 134 |
+
| |-- episode_000009.parquet
|
| 135 |
+
|
| 136 |
+
| |-- episode_000010.parquet
|
| 137 |
+
|
| 138 |
+
| `-- episode_000011.parquet
|
| 139 |
+
|
| 140 |
+
| `-- ... (244 more entries)
|
| 141 |
+
|
| 142 |
+
|-- meta
|
| 143 |
+
|
| 144 |
+
| |-- episodes.jsonl
|
| 145 |
+
|
| 146 |
+
| |-- episodes_stats.jsonl
|
| 147 |
+
|
| 148 |
+
| |-- info.json
|
| 149 |
+
|
| 150 |
+
| `-- tasks.jsonl
|
| 151 |
+
|
| 152 |
+
|-- videos
|
| 153 |
+
|
| 154 |
+
| `-- chunk-000
|
| 155 |
+
|
| 156 |
+
| |-- observation.images.cam_left_head_rgb
|
| 157 |
+
|
| 158 |
+
| |-- observation.images.cam_left_wrist_rgb
|
| 159 |
+
|
| 160 |
+
| |-- observation.images.cam_right_head_rgb
|
| 161 |
+
|
| 162 |
+
| `-- observation.images.cam_right_wrist_rgb
|
| 163 |
+
|
| 164 |
+
|-- info.yaml
|
| 165 |
+
|
| 166 |
+
`-- README.md'
|
| 167 |
+
splits:
|
| 168 |
+
train: 0:255
|
| 169 |
+
features:
|
| 170 |
+
action:
|
| 171 |
+
dtype: float32
|
| 172 |
+
names:
|
| 173 |
+
- right_arm_joint_1_rad
|
| 174 |
+
- right_arm_joint_2_rad
|
| 175 |
+
- right_arm_joint_3_rad
|
| 176 |
+
- right_arm_joint_4_rad
|
| 177 |
+
- right_arm_joint_5_rad
|
| 178 |
+
- right_arm_joint_6_rad
|
| 179 |
+
- right_arm_joint_7_rad
|
| 180 |
+
- right_gripper_open
|
| 181 |
+
- left_arm_joint_1_rad
|
| 182 |
+
- left_arm_joint_2_rad
|
| 183 |
+
- left_arm_joint_3_rad
|
| 184 |
+
- left_arm_joint_4_rad
|
| 185 |
+
- left_arm_joint_5_rad
|
| 186 |
+
- left_arm_joint_6_rad
|
| 187 |
+
- left_arm_joint_7_rad
|
| 188 |
+
- left_gripper_open
|
| 189 |
+
- torso_joint_1_rad
|
| 190 |
+
- torso_joint_2_rad
|
| 191 |
+
- torso_joint_3_rad
|
| 192 |
+
- torso_joint_4_rad
|
| 193 |
+
- torso_joint_5_rad
|
| 194 |
+
- head_joint_1_rad
|
| 195 |
+
- head_joint_2_rad
|
| 196 |
+
- chassis_pos_1
|
| 197 |
+
- chassis_pos_2
|
| 198 |
+
- chassis_pos_3
|
| 199 |
+
- chassis_pos_4
|
| 200 |
+
- chassis_vel_1
|
| 201 |
+
- chassis_vel_2
|
| 202 |
+
- chassis_vel_3
|
| 203 |
+
- chassis_vel_4
|
| 204 |
+
- base_pos_x_m
|
| 205 |
+
- base_pos_y_m
|
| 206 |
+
- base_orient_quat_z
|
| 207 |
+
- base_orient_quat_w
|
| 208 |
+
- base_vel_x_m_s
|
| 209 |
+
- base_vel_y_m_s
|
| 210 |
+
- base_vel_angular_z_rad_s
|
| 211 |
+
shape:
|
| 212 |
+
- 38
|
| 213 |
+
observation.state:
|
| 214 |
+
dtype: float32
|
| 215 |
+
names:
|
| 216 |
+
- right_arm_joint_1_rad
|
| 217 |
+
- right_arm_joint_2_rad
|
| 218 |
+
- right_arm_joint_3_rad
|
| 219 |
+
- right_arm_joint_4_rad
|
| 220 |
+
- right_arm_joint_5_rad
|
| 221 |
+
- right_arm_joint_6_rad
|
| 222 |
+
- right_arm_joint_7_rad
|
| 223 |
+
- right_gripper_open
|
| 224 |
+
- left_arm_joint_1_rad
|
| 225 |
+
- left_arm_joint_2_rad
|
| 226 |
+
- left_arm_joint_3_rad
|
| 227 |
+
- left_arm_joint_4_rad
|
| 228 |
+
- left_arm_joint_5_rad
|
| 229 |
+
- left_arm_joint_6_rad
|
| 230 |
+
- left_arm_joint_7_rad
|
| 231 |
+
- left_gripper_open
|
| 232 |
+
- torso_joint_1_rad
|
| 233 |
+
- torso_joint_2_rad
|
| 234 |
+
- torso_joint_3_rad
|
| 235 |
+
- torso_joint_4_rad
|
| 236 |
+
- torso_joint_5_rad
|
| 237 |
+
- head_joint_1_rad
|
| 238 |
+
- head_joint_2_rad
|
| 239 |
+
- chassis_pos_1
|
| 240 |
+
- chassis_pos_2
|
| 241 |
+
- chassis_pos_3
|
| 242 |
+
- chassis_pos_4
|
| 243 |
+
- chassis_vel_1
|
| 244 |
+
- chassis_vel_2
|
| 245 |
+
- chassis_vel_3
|
| 246 |
+
- chassis_vel_4
|
| 247 |
+
- base_pos_x_m
|
| 248 |
+
- base_pos_y_m
|
| 249 |
+
- base_orient_quat_z
|
| 250 |
+
- base_orient_quat_w
|
| 251 |
+
- base_vel_x_m_s
|
| 252 |
+
- base_vel_y_m_s
|
| 253 |
+
- base_vel_angular_z_rad_s
|
| 254 |
+
shape:
|
| 255 |
+
- 38
|
| 256 |
+
observation.images.cam_right_head_rgb:
|
| 257 |
+
dtype: video
|
| 258 |
+
shape:
|
| 259 |
+
- 480
|
| 260 |
+
- 640
|
| 261 |
+
- 3
|
| 262 |
+
names:
|
| 263 |
+
- height
|
| 264 |
+
- width
|
| 265 |
+
- channels
|
| 266 |
+
info:
|
| 267 |
+
video.fps: 30
|
| 268 |
+
video.height: 480
|
| 269 |
+
video.width: 640
|
| 270 |
+
video.channels: 3
|
| 271 |
+
video.codec: libx264
|
| 272 |
+
video.pix_fmt: yuv420p
|
| 273 |
+
video.is_depth_map: false
|
| 274 |
+
has_audio: false
|
| 275 |
+
observation.images.cam_left_head_rgb:
|
| 276 |
+
dtype: video
|
| 277 |
+
shape:
|
| 278 |
+
- 480
|
| 279 |
+
- 640
|
| 280 |
+
- 3
|
| 281 |
+
names:
|
| 282 |
+
- height
|
| 283 |
+
- width
|
| 284 |
+
- channels
|
| 285 |
+
info:
|
| 286 |
+
video.fps: 30
|
| 287 |
+
video.height: 480
|
| 288 |
+
video.width: 640
|
| 289 |
+
video.channels: 3
|
| 290 |
+
video.codec: libx264
|
| 291 |
+
video.pix_fmt: yuv420p
|
| 292 |
+
video.is_depth_map: false
|
| 293 |
+
has_audio: false
|
| 294 |
+
observation.images.cam_right_wrist_rgb:
|
| 295 |
+
dtype: video
|
| 296 |
+
shape:
|
| 297 |
+
- 480
|
| 298 |
+
- 640
|
| 299 |
+
- 3
|
| 300 |
+
names:
|
| 301 |
+
- height
|
| 302 |
+
- width
|
| 303 |
+
- channels
|
| 304 |
+
info:
|
| 305 |
+
video.fps: 30
|
| 306 |
+
video.height: 480
|
| 307 |
+
video.width: 640
|
| 308 |
+
video.channels: 3
|
| 309 |
+
video.codec: libx264
|
| 310 |
+
video.pix_fmt: yuv420p
|
| 311 |
+
video.is_depth_map: false
|
| 312 |
+
has_audio: false
|
| 313 |
+
observation.images.cam_left_wrist_rgb:
|
| 314 |
+
dtype: video
|
| 315 |
+
shape:
|
| 316 |
+
- 480
|
| 317 |
+
- 640
|
| 318 |
+
- 3
|
| 319 |
+
names:
|
| 320 |
+
- height
|
| 321 |
+
- width
|
| 322 |
+
- channels
|
| 323 |
+
info:
|
| 324 |
+
video.fps: 30
|
| 325 |
+
video.height: 480
|
| 326 |
+
video.width: 640
|
| 327 |
+
video.channels: 3
|
| 328 |
+
video.codec: libx264
|
| 329 |
+
video.pix_fmt: yuv420p
|
| 330 |
+
video.is_depth_map: false
|
| 331 |
+
has_audio: false
|
| 332 |
+
timestamp:
|
| 333 |
+
dtype: float32
|
| 334 |
+
shape:
|
| 335 |
+
- 1
|
| 336 |
+
names: null
|
| 337 |
+
frame_index:
|
| 338 |
+
dtype: int64
|
| 339 |
+
shape:
|
| 340 |
+
- 1
|
| 341 |
+
names: null
|
| 342 |
+
episode_index:
|
| 343 |
+
dtype: int64
|
| 344 |
+
shape:
|
| 345 |
+
- 1
|
| 346 |
+
names: null
|
| 347 |
+
index:
|
| 348 |
+
dtype: int64
|
| 349 |
+
shape:
|
| 350 |
+
- 1
|
| 351 |
+
names: null
|
| 352 |
+
task_index:
|
| 353 |
+
dtype: int64
|
| 354 |
+
shape:
|
| 355 |
+
- 1
|
| 356 |
+
names: null
|
| 357 |
+
gripper_open_scale_state:
|
| 358 |
+
names:
|
| 359 |
+
- left_gripper_open_scale
|
| 360 |
+
- right_gripper_open_scale
|
| 361 |
+
dtype: float64
|
| 362 |
+
shape:
|
| 363 |
+
- 2
|
| 364 |
+
gripper_open_scale_action:
|
| 365 |
+
names:
|
| 366 |
+
- left_gripper_open_scale
|
| 367 |
+
- right_gripper_open_scale
|
| 368 |
+
dtype: float64
|
| 369 |
+
shape:
|
| 370 |
+
- 2
|
| 371 |
+
eef_sim_pose_state:
|
| 372 |
+
names:
|
| 373 |
+
- left_eef_pos_x
|
| 374 |
+
- left_eef_pos_y
|
| 375 |
+
- left_eef_pos_z
|
| 376 |
+
- left_eef_rot_x
|
| 377 |
+
- left_eef_rot_y
|
| 378 |
+
- left_eef_rot_z
|
| 379 |
+
- right_eef_pos_x
|
| 380 |
+
- right_eef_pos_y
|
| 381 |
+
- right_eef_pos_z
|
| 382 |
+
- right_eef_rot_x
|
| 383 |
+
- right_eef_rot_y
|
| 384 |
+
- right_eef_rot_z
|
| 385 |
+
dtype: float32
|
| 386 |
+
shape:
|
| 387 |
+
- 12
|
| 388 |
+
eef_sim_pose_action:
|
| 389 |
+
names:
|
| 390 |
+
- left_eef_pos_x
|
| 391 |
+
- left_eef_pos_y
|
| 392 |
+
- left_eef_pos_z
|
| 393 |
+
- left_eef_rot_x
|
| 394 |
+
- left_eef_rot_y
|
| 395 |
+
- left_eef_rot_z
|
| 396 |
+
- right_eef_pos_x
|
| 397 |
+
- right_eef_pos_y
|
| 398 |
+
- right_eef_pos_z
|
| 399 |
+
- right_eef_rot_x
|
| 400 |
+
- right_eef_rot_y
|
| 401 |
+
- right_eef_rot_z
|
| 402 |
+
dtype: float32
|
| 403 |
+
shape:
|
| 404 |
+
- 12
|
| 405 |
+
eef_direction_state:
|
| 406 |
+
names:
|
| 407 |
+
- left_eef_direction
|
| 408 |
+
- right_eef_direction
|
| 409 |
+
dtype: int32
|
| 410 |
+
shape:
|
| 411 |
+
- 2
|
| 412 |
+
eef_direction_action:
|
| 413 |
+
names:
|
| 414 |
+
- left_eef_direction
|
| 415 |
+
- right_eef_direction
|
| 416 |
+
dtype: int32
|
| 417 |
+
shape:
|
| 418 |
+
- 2
|
| 419 |
+
eef_velocity_state:
|
| 420 |
+
names:
|
| 421 |
+
- left_eef_velocity
|
| 422 |
+
- right_eef_velocity
|
| 423 |
+
dtype: int32
|
| 424 |
+
shape:
|
| 425 |
+
- 2
|
| 426 |
+
eef_velocity_action:
|
| 427 |
+
names:
|
| 428 |
+
- left_eef_velocity
|
| 429 |
+
- right_eef_velocity
|
| 430 |
+
dtype: int32
|
| 431 |
+
shape:
|
| 432 |
+
- 2
|
| 433 |
+
eef_acc_mag_state:
|
| 434 |
+
names:
|
| 435 |
+
- left_eef_acc_mag
|
| 436 |
+
- right_eef_acc_mag
|
| 437 |
+
dtype: int32
|
| 438 |
+
shape:
|
| 439 |
+
- 2
|
| 440 |
+
eef_acc_mag_action:
|
| 441 |
+
names:
|
| 442 |
+
- left_eef_acc_mag
|
| 443 |
+
- right_eef_acc_mag
|
| 444 |
+
dtype: int32
|
| 445 |
+
shape:
|
| 446 |
+
- 2
|
| 447 |
+
gripper_mode_state:
|
| 448 |
+
names:
|
| 449 |
+
- left_gripper_mode
|
| 450 |
+
- right_gripper_mode
|
| 451 |
+
dtype: int32
|
| 452 |
+
shape:
|
| 453 |
+
- 2
|
| 454 |
+
gripper_mode_action:
|
| 455 |
+
names:
|
| 456 |
+
- left_gripper_mode
|
| 457 |
+
- right_gripper_mode
|
| 458 |
+
dtype: int32
|
| 459 |
+
shape:
|
| 460 |
+
- 2
|
| 461 |
+
gripper_activity_state:
|
| 462 |
+
names:
|
| 463 |
+
- left_gripper_activity
|
| 464 |
+
- right_gripper_activity
|
| 465 |
+
dtype: int32
|
| 466 |
+
shape:
|
| 467 |
+
- 2
|
| 468 |
+
gripper_activity_action:
|
| 469 |
+
names:
|
| 470 |
+
- left_gripper_activity
|
| 471 |
+
- right_gripper_activity
|
| 472 |
+
dtype: int32
|
| 473 |
+
shape:
|
| 474 |
+
- 2
|
| 475 |
+
authors:
|
| 476 |
+
contributed_by:
|
| 477 |
+
- name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
|
| 478 |
+
dataset_description: This dataset uses an extended format based on LeRobot and is
|
| 479 |
+
fully compatible with LeRobot.
|
| 480 |
+
homepage: https://flagopen.github.io/RoboCOIN/
|
| 481 |
+
paper: https://arxiv.org/abs/2511.17441
|
| 482 |
+
repository: https://github.com/FlagOpen/RoboCOIN
|
| 483 |
+
contact_info: For questions, issues, or feedback regarding this dataset, please contact
|
| 484 |
+
us.
|
| 485 |
+
support_info: For technical support, please open an issue on our GitHub repository.
|
| 486 |
+
license_details: apache-2.0
|
| 487 |
+
citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\
|
| 488 |
+
\ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\
|
| 489 |
+
\ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
|
| 490 |
+
\ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
|
| 491 |
+
\ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
|
| 492 |
+
\ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
|
| 493 |
+
\ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
|
| 494 |
+
\ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
|
| 495 |
+
\ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
|
| 496 |
+
\ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
|
| 497 |
+
\ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
|
| 498 |
+
\ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
|
| 499 |
+
\ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
|
| 500 |
+
\ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
|
| 501 |
+
\ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\
|
| 502 |
+
\ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n"
|
| 503 |
+
additional_citations: 'If you use this dataset, please also consider citing:
|
| 504 |
+
|
| 505 |
+
LeRobot Framework: https://github.com/huggingface/lerobot
|
| 506 |
+
|
| 507 |
+
'
|
| 508 |
+
version_info: Initial Release
|
| 509 |
+
data_path: data/chunk-{id}/episode_{id}.parquet
|
| 510 |
+
video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
|
| 511 |
+
video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4
|
dataset_info/Galbot_G1_load_floor_trash.yaml
ADDED
|
@@ -0,0 +1,503 @@
|
|
|
|
|
|
|
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|
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|
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|
|
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|
|
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|
|
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|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
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|
|
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|
|
|
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|
|
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|
|
|
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|
|
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|
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|
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|
|
|
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|
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|
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|
|
|
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|
|
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|
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|
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|
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|
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|
|
|
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|
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|
|
|
|
|
|
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|
|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
task_categories:
|
| 2 |
+
- robotics
|
| 3 |
+
language:
|
| 4 |
+
- en
|
| 5 |
+
tags:
|
| 6 |
+
- RoboCOIN
|
| 7 |
+
- LeRobot
|
| 8 |
+
license: apache-2.0
|
| 9 |
+
configs:
|
| 10 |
+
- config_name: default
|
| 11 |
+
data_files: data/chunk-{id}/episode_{id}.parquet
|
| 12 |
+
extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
|
| 13 |
+
in your research/publications—see the "Citation" section for details. You agree
|
| 14 |
+
to not use the dataset to conduct experiments that cause harm to human subjects.
|
| 15 |
+
extra_gated_fields:
|
| 16 |
+
Company/Organization:
|
| 17 |
+
type: text
|
| 18 |
+
description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
|
| 19 |
+
Country:
|
| 20 |
+
type: country
|
| 21 |
+
description: e.g., "Germany", "China", "United States"
|
| 22 |
+
codebase_version: v2.1
|
| 23 |
+
dataset_name: Galbot_G1_load_floor_trash
|
| 24 |
+
dataset_uuid: 94d76e68-3c11-43f1-bb95-81d3df40bcfa
|
| 25 |
+
scene_type:
|
| 26 |
+
level1: Household
|
| 27 |
+
level2: Living Room
|
| 28 |
+
level3: null
|
| 29 |
+
level4: null
|
| 30 |
+
level5: null
|
| 31 |
+
env_type: real_world
|
| 32 |
+
objects:
|
| 33 |
+
- id: trash_can
|
| 34 |
+
name: trash can
|
| 35 |
+
color: black
|
| 36 |
+
anchor_policy: static
|
| 37 |
+
- id: tissue_paper
|
| 38 |
+
name: tissue paper
|
| 39 |
+
color: white
|
| 40 |
+
anchor_policy: static
|
| 41 |
+
- id: '1'
|
| 42 |
+
name: tissue paper
|
| 43 |
+
color: white
|
| 44 |
+
anchor_policy: static
|
| 45 |
+
- id: water_bottle
|
| 46 |
+
name: water bottle
|
| 47 |
+
color: transparent
|
| 48 |
+
anchor_policy: static
|
| 49 |
+
- id: floor
|
| 50 |
+
name: floor
|
| 51 |
+
color: brown
|
| 52 |
+
anchor_policy: static
|
| 53 |
+
task_operation_type: mobile_dual_arm
|
| 54 |
+
task_instruction: Pick up the trash bin and place the garbage on the floor into it.
|
| 55 |
+
sub_tasks:
|
| 56 |
+
- Pick up the trash bin and place the garbage on the floor into it.
|
| 57 |
+
atomic_actions:
|
| 58 |
+
- move
|
| 59 |
+
- grasp
|
| 60 |
+
- place
|
| 61 |
+
robot_name: Galbot_G1
|
| 62 |
+
end_effector_type: two_finger_end_effector
|
| 63 |
+
tele_type: master_arm
|
| 64 |
+
sensor_list:
|
| 65 |
+
- cam_right_head_rgb
|
| 66 |
+
- cam_left_head_rgb
|
| 67 |
+
- cam_right_wrist_rgb
|
| 68 |
+
- cam_left_wrist_rgb
|
| 69 |
+
came_info:
|
| 70 |
+
cam_right_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 71 |
+
pix_fmt=yuv420p
|
| 72 |
+
cam_left_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 73 |
+
pix_fmt=yuv420p
|
| 74 |
+
cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 75 |
+
pix_fmt=yuv420p
|
| 76 |
+
cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 77 |
+
pix_fmt=yuv420p
|
| 78 |
+
depth_enabled: false
|
| 79 |
+
coordinate_definition: right-hand-frame
|
| 80 |
+
joint_rotation_dim: radian
|
| 81 |
+
end_rotation_dim: radian
|
| 82 |
+
end_translation_dim: meter
|
| 83 |
+
annotations:
|
| 84 |
+
- eef_acc_mag_annotation.jsonl
|
| 85 |
+
- eef_direction_annotation.jsonl
|
| 86 |
+
- eef_velocity_annotation.jsonl
|
| 87 |
+
- gripper_activity_annotation.jsonl
|
| 88 |
+
- gripper_mode_annotation.jsonl
|
| 89 |
+
statistics:
|
| 90 |
+
total_episodes: 200
|
| 91 |
+
total_frames: 356938
|
| 92 |
+
fps: 30
|
| 93 |
+
total_tasks: 1
|
| 94 |
+
total_videos: 800
|
| 95 |
+
total_chunks: 1
|
| 96 |
+
chunks_size: 10000
|
| 97 |
+
state_dim: 31
|
| 98 |
+
action_dim: 31
|
| 99 |
+
camera_views: 4
|
| 100 |
+
dataset_size: 14.50 GB
|
| 101 |
+
frame_num: 356938
|
| 102 |
+
frame_range: 1M
|
| 103 |
+
dataset_size: 14.50 GB
|
| 104 |
+
data_structure: 'Galbot_G1_load_floor_trash_0_qced_hardlink/
|
| 105 |
+
|
| 106 |
+
|-- annotations
|
| 107 |
+
|
| 108 |
+
| |-- eef_acc_mag_annotation.jsonl
|
| 109 |
+
|
| 110 |
+
| |-- eef_direction_annotation.jsonl
|
| 111 |
+
|
| 112 |
+
| |-- eef_velocity_annotation.jsonl
|
| 113 |
+
|
| 114 |
+
| |-- gripper_activity_annotation.jsonl
|
| 115 |
+
|
| 116 |
+
| `-- gripper_mode_annotation.jsonl
|
| 117 |
+
|
| 118 |
+
|-- data
|
| 119 |
+
|
| 120 |
+
| `-- chunk-000
|
| 121 |
+
|
| 122 |
+
| |-- episode_000000.parquet
|
| 123 |
+
|
| 124 |
+
| |-- episode_000001.parquet
|
| 125 |
+
|
| 126 |
+
| |-- episode_000002.parquet
|
| 127 |
+
|
| 128 |
+
| |-- episode_000003.parquet
|
| 129 |
+
|
| 130 |
+
| |-- episode_000004.parquet
|
| 131 |
+
|
| 132 |
+
| |-- episode_000005.parquet
|
| 133 |
+
|
| 134 |
+
| |-- episode_000006.parquet
|
| 135 |
+
|
| 136 |
+
| |-- episode_000007.parquet
|
| 137 |
+
|
| 138 |
+
| |-- episode_000008.parquet
|
| 139 |
+
|
| 140 |
+
| |-- episode_000009.parquet
|
| 141 |
+
|
| 142 |
+
| |-- episode_000010.parquet
|
| 143 |
+
|
| 144 |
+
| `-- episode_000011.parquet
|
| 145 |
+
|
| 146 |
+
| `-- ... (188 more entries)
|
| 147 |
+
|
| 148 |
+
|-- meta
|
| 149 |
+
|
| 150 |
+
| |-- episodes.jsonl
|
| 151 |
+
|
| 152 |
+
| |-- episodes_stats.jsonl
|
| 153 |
+
|
| 154 |
+
| |-- info.json
|
| 155 |
+
|
| 156 |
+
| `-- tasks.jsonl
|
| 157 |
+
|
| 158 |
+
|-- videos
|
| 159 |
+
|
| 160 |
+
| `-- chunk-000
|
| 161 |
+
|
| 162 |
+
| |-- observation.images.cam_left_head_rgb
|
| 163 |
+
|
| 164 |
+
| |-- observation.images.cam_left_wrist_rgb
|
| 165 |
+
|
| 166 |
+
| |-- observation.images.cam_right_head_rgb
|
| 167 |
+
|
| 168 |
+
| `-- observation.images.cam_right_wrist_rgb
|
| 169 |
+
|
| 170 |
+
|-- info.yaml
|
| 171 |
+
|
| 172 |
+
`-- README.md'
|
| 173 |
+
splits:
|
| 174 |
+
train: 0:199
|
| 175 |
+
features:
|
| 176 |
+
action:
|
| 177 |
+
dtype: float32
|
| 178 |
+
names:
|
| 179 |
+
- right_arm_joint_1_rad
|
| 180 |
+
- right_arm_joint_2_rad
|
| 181 |
+
- right_arm_joint_3_rad
|
| 182 |
+
- right_arm_joint_4_rad
|
| 183 |
+
- right_arm_joint_5_rad
|
| 184 |
+
- right_arm_joint_6_rad
|
| 185 |
+
- right_arm_joint_7_rad
|
| 186 |
+
- right_gripper_open
|
| 187 |
+
- left_arm_joint_1_rad
|
| 188 |
+
- left_arm_joint_2_rad
|
| 189 |
+
- left_arm_joint_3_rad
|
| 190 |
+
- left_arm_joint_4_rad
|
| 191 |
+
- left_arm_joint_5_rad
|
| 192 |
+
- left_arm_joint_6_rad
|
| 193 |
+
- left_arm_joint_7_rad
|
| 194 |
+
- left_gripper_open
|
| 195 |
+
- torso_joint_1_rad
|
| 196 |
+
- torso_joint_2_rad
|
| 197 |
+
- torso_joint_3_rad
|
| 198 |
+
- torso_joint_4_rad
|
| 199 |
+
- torso_joint_5_rad
|
| 200 |
+
- head_joint_1_rad
|
| 201 |
+
- head_joint_2_rad
|
| 202 |
+
- chassis_pos_1
|
| 203 |
+
- chassis_pos_2
|
| 204 |
+
- chassis_pos_3
|
| 205 |
+
- chassis_pos_4
|
| 206 |
+
- chassis_vel_1
|
| 207 |
+
- chassis_vel_2
|
| 208 |
+
- chassis_vel_3
|
| 209 |
+
- chassis_vel_4
|
| 210 |
+
shape:
|
| 211 |
+
- 31
|
| 212 |
+
observation.state:
|
| 213 |
+
dtype: float32
|
| 214 |
+
names:
|
| 215 |
+
- right_arm_joint_1_rad
|
| 216 |
+
- right_arm_joint_2_rad
|
| 217 |
+
- right_arm_joint_3_rad
|
| 218 |
+
- right_arm_joint_4_rad
|
| 219 |
+
- right_arm_joint_5_rad
|
| 220 |
+
- right_arm_joint_6_rad
|
| 221 |
+
- right_arm_joint_7_rad
|
| 222 |
+
- right_gripper_open
|
| 223 |
+
- left_arm_joint_1_rad
|
| 224 |
+
- left_arm_joint_2_rad
|
| 225 |
+
- left_arm_joint_3_rad
|
| 226 |
+
- left_arm_joint_4_rad
|
| 227 |
+
- left_arm_joint_5_rad
|
| 228 |
+
- left_arm_joint_6_rad
|
| 229 |
+
- left_arm_joint_7_rad
|
| 230 |
+
- left_gripper_open
|
| 231 |
+
- torso_joint_1_rad
|
| 232 |
+
- torso_joint_2_rad
|
| 233 |
+
- torso_joint_3_rad
|
| 234 |
+
- torso_joint_4_rad
|
| 235 |
+
- torso_joint_5_rad
|
| 236 |
+
- head_joint_1_rad
|
| 237 |
+
- head_joint_2_rad
|
| 238 |
+
- chassis_pos_1
|
| 239 |
+
- chassis_pos_2
|
| 240 |
+
- chassis_pos_3
|
| 241 |
+
- chassis_pos_4
|
| 242 |
+
- chassis_vel_1
|
| 243 |
+
- chassis_vel_2
|
| 244 |
+
- chassis_vel_3
|
| 245 |
+
- chassis_vel_4
|
| 246 |
+
shape:
|
| 247 |
+
- 31
|
| 248 |
+
observation.images.cam_right_head_rgb:
|
| 249 |
+
dtype: video
|
| 250 |
+
shape:
|
| 251 |
+
- 480
|
| 252 |
+
- 640
|
| 253 |
+
- 3
|
| 254 |
+
names:
|
| 255 |
+
- height
|
| 256 |
+
- width
|
| 257 |
+
- channels
|
| 258 |
+
info:
|
| 259 |
+
video.fps: 30
|
| 260 |
+
video.height: 480
|
| 261 |
+
video.width: 640
|
| 262 |
+
video.channels: 3
|
| 263 |
+
video.codec: libx264
|
| 264 |
+
video.pix_fmt: yuv420p
|
| 265 |
+
video.is_depth_map: false
|
| 266 |
+
has_audio: false
|
| 267 |
+
observation.images.cam_left_head_rgb:
|
| 268 |
+
dtype: video
|
| 269 |
+
shape:
|
| 270 |
+
- 480
|
| 271 |
+
- 640
|
| 272 |
+
- 3
|
| 273 |
+
names:
|
| 274 |
+
- height
|
| 275 |
+
- width
|
| 276 |
+
- channels
|
| 277 |
+
info:
|
| 278 |
+
video.fps: 30
|
| 279 |
+
video.height: 480
|
| 280 |
+
video.width: 640
|
| 281 |
+
video.channels: 3
|
| 282 |
+
video.codec: libx264
|
| 283 |
+
video.pix_fmt: yuv420p
|
| 284 |
+
video.is_depth_map: false
|
| 285 |
+
has_audio: false
|
| 286 |
+
observation.images.cam_right_wrist_rgb:
|
| 287 |
+
dtype: video
|
| 288 |
+
shape:
|
| 289 |
+
- 480
|
| 290 |
+
- 640
|
| 291 |
+
- 3
|
| 292 |
+
names:
|
| 293 |
+
- height
|
| 294 |
+
- width
|
| 295 |
+
- channels
|
| 296 |
+
info:
|
| 297 |
+
video.fps: 30
|
| 298 |
+
video.height: 480
|
| 299 |
+
video.width: 640
|
| 300 |
+
video.channels: 3
|
| 301 |
+
video.codec: libx264
|
| 302 |
+
video.pix_fmt: yuv420p
|
| 303 |
+
video.is_depth_map: false
|
| 304 |
+
has_audio: false
|
| 305 |
+
observation.images.cam_left_wrist_rgb:
|
| 306 |
+
dtype: video
|
| 307 |
+
shape:
|
| 308 |
+
- 480
|
| 309 |
+
- 640
|
| 310 |
+
- 3
|
| 311 |
+
names:
|
| 312 |
+
- height
|
| 313 |
+
- width
|
| 314 |
+
- channels
|
| 315 |
+
info:
|
| 316 |
+
video.fps: 30
|
| 317 |
+
video.height: 480
|
| 318 |
+
video.width: 640
|
| 319 |
+
video.channels: 3
|
| 320 |
+
video.codec: libx264
|
| 321 |
+
video.pix_fmt: yuv420p
|
| 322 |
+
video.is_depth_map: false
|
| 323 |
+
has_audio: false
|
| 324 |
+
timestamp:
|
| 325 |
+
dtype: float32
|
| 326 |
+
shape:
|
| 327 |
+
- 1
|
| 328 |
+
names: null
|
| 329 |
+
frame_index:
|
| 330 |
+
dtype: int64
|
| 331 |
+
shape:
|
| 332 |
+
- 1
|
| 333 |
+
names: null
|
| 334 |
+
episode_index:
|
| 335 |
+
dtype: int64
|
| 336 |
+
shape:
|
| 337 |
+
- 1
|
| 338 |
+
names: null
|
| 339 |
+
index:
|
| 340 |
+
dtype: int64
|
| 341 |
+
shape:
|
| 342 |
+
- 1
|
| 343 |
+
names: null
|
| 344 |
+
task_index:
|
| 345 |
+
dtype: int64
|
| 346 |
+
shape:
|
| 347 |
+
- 1
|
| 348 |
+
names: null
|
| 349 |
+
gripper_open_scale_state:
|
| 350 |
+
names:
|
| 351 |
+
- left_gripper_open_scale
|
| 352 |
+
- right_gripper_open_scale
|
| 353 |
+
dtype: float64
|
| 354 |
+
shape:
|
| 355 |
+
- 2
|
| 356 |
+
gripper_open_scale_action:
|
| 357 |
+
names:
|
| 358 |
+
- left_gripper_open_scale
|
| 359 |
+
- right_gripper_open_scale
|
| 360 |
+
dtype: float64
|
| 361 |
+
shape:
|
| 362 |
+
- 2
|
| 363 |
+
eef_sim_pose_state:
|
| 364 |
+
names:
|
| 365 |
+
- left_eef_pos_x
|
| 366 |
+
- left_eef_pos_y
|
| 367 |
+
- left_eef_pos_z
|
| 368 |
+
- left_eef_rot_x
|
| 369 |
+
- left_eef_rot_y
|
| 370 |
+
- left_eef_rot_z
|
| 371 |
+
- right_eef_pos_x
|
| 372 |
+
- right_eef_pos_y
|
| 373 |
+
- right_eef_pos_z
|
| 374 |
+
- right_eef_rot_x
|
| 375 |
+
- right_eef_rot_y
|
| 376 |
+
- right_eef_rot_z
|
| 377 |
+
dtype: float32
|
| 378 |
+
shape:
|
| 379 |
+
- 12
|
| 380 |
+
eef_sim_pose_action:
|
| 381 |
+
names:
|
| 382 |
+
- left_eef_pos_x
|
| 383 |
+
- left_eef_pos_y
|
| 384 |
+
- left_eef_pos_z
|
| 385 |
+
- left_eef_rot_x
|
| 386 |
+
- left_eef_rot_y
|
| 387 |
+
- left_eef_rot_z
|
| 388 |
+
- right_eef_pos_x
|
| 389 |
+
- right_eef_pos_y
|
| 390 |
+
- right_eef_pos_z
|
| 391 |
+
- right_eef_rot_x
|
| 392 |
+
- right_eef_rot_y
|
| 393 |
+
- right_eef_rot_z
|
| 394 |
+
dtype: float32
|
| 395 |
+
shape:
|
| 396 |
+
- 12
|
| 397 |
+
eef_direction_state:
|
| 398 |
+
names:
|
| 399 |
+
- left_eef_direction
|
| 400 |
+
- right_eef_direction
|
| 401 |
+
dtype: int32
|
| 402 |
+
shape:
|
| 403 |
+
- 2
|
| 404 |
+
eef_direction_action:
|
| 405 |
+
names:
|
| 406 |
+
- left_eef_direction
|
| 407 |
+
- right_eef_direction
|
| 408 |
+
dtype: int32
|
| 409 |
+
shape:
|
| 410 |
+
- 2
|
| 411 |
+
eef_velocity_state:
|
| 412 |
+
names:
|
| 413 |
+
- left_eef_velocity
|
| 414 |
+
- right_eef_velocity
|
| 415 |
+
dtype: int32
|
| 416 |
+
shape:
|
| 417 |
+
- 2
|
| 418 |
+
eef_velocity_action:
|
| 419 |
+
names:
|
| 420 |
+
- left_eef_velocity
|
| 421 |
+
- right_eef_velocity
|
| 422 |
+
dtype: int32
|
| 423 |
+
shape:
|
| 424 |
+
- 2
|
| 425 |
+
eef_acc_mag_state:
|
| 426 |
+
names:
|
| 427 |
+
- left_eef_acc_mag
|
| 428 |
+
- right_eef_acc_mag
|
| 429 |
+
dtype: int32
|
| 430 |
+
shape:
|
| 431 |
+
- 2
|
| 432 |
+
eef_acc_mag_action:
|
| 433 |
+
names:
|
| 434 |
+
- left_eef_acc_mag
|
| 435 |
+
- right_eef_acc_mag
|
| 436 |
+
dtype: int32
|
| 437 |
+
shape:
|
| 438 |
+
- 2
|
| 439 |
+
gripper_mode_state:
|
| 440 |
+
names:
|
| 441 |
+
- left_gripper_mode
|
| 442 |
+
- right_gripper_mode
|
| 443 |
+
dtype: int32
|
| 444 |
+
shape:
|
| 445 |
+
- 2
|
| 446 |
+
gripper_mode_action:
|
| 447 |
+
names:
|
| 448 |
+
- left_gripper_mode
|
| 449 |
+
- right_gripper_mode
|
| 450 |
+
dtype: int32
|
| 451 |
+
shape:
|
| 452 |
+
- 2
|
| 453 |
+
gripper_activity_state:
|
| 454 |
+
names:
|
| 455 |
+
- left_gripper_activity
|
| 456 |
+
- right_gripper_activity
|
| 457 |
+
dtype: int32
|
| 458 |
+
shape:
|
| 459 |
+
- 2
|
| 460 |
+
gripper_activity_action:
|
| 461 |
+
names:
|
| 462 |
+
- left_gripper_activity
|
| 463 |
+
- right_gripper_activity
|
| 464 |
+
dtype: int32
|
| 465 |
+
shape:
|
| 466 |
+
- 2
|
| 467 |
+
authors:
|
| 468 |
+
contributed_by:
|
| 469 |
+
- name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
|
| 470 |
+
dataset_description: This dataset uses an extended format based on LeRobot and is
|
| 471 |
+
fully compatible with LeRobot.
|
| 472 |
+
homepage: https://flagopen.github.io/RoboCOIN/
|
| 473 |
+
paper: https://arxiv.org/abs/2511.17441
|
| 474 |
+
repository: https://github.com/FlagOpen/RoboCOIN
|
| 475 |
+
contact_info: For questions, issues, or feedback regarding this dataset, please contact
|
| 476 |
+
us.
|
| 477 |
+
support_info: For technical support, please open an issue on our GitHub repository.
|
| 478 |
+
license_details: apache-2.0
|
| 479 |
+
citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\
|
| 480 |
+
\ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\
|
| 481 |
+
\ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
|
| 482 |
+
\ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
|
| 483 |
+
\ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
|
| 484 |
+
\ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
|
| 485 |
+
\ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
|
| 486 |
+
\ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
|
| 487 |
+
\ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
|
| 488 |
+
\ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
|
| 489 |
+
\ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
|
| 490 |
+
\ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
|
| 491 |
+
\ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
|
| 492 |
+
\ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
|
| 493 |
+
\ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\
|
| 494 |
+
\ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n"
|
| 495 |
+
additional_citations: 'If you use this dataset, please also consider citing:
|
| 496 |
+
|
| 497 |
+
LeRobot Framework: https://github.com/huggingface/lerobot
|
| 498 |
+
|
| 499 |
+
'
|
| 500 |
+
version_info: Initial Release
|
| 501 |
+
data_path: data/chunk-{id}/episode_{id}.parquet
|
| 502 |
+
video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
|
| 503 |
+
video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4
|
dataset_info/Galbot_G1_load_floor_trash_1.yaml
ADDED
|
@@ -0,0 +1,534 @@
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
task_categories:
|
| 2 |
+
- robotics
|
| 3 |
+
language:
|
| 4 |
+
- en
|
| 5 |
+
tags:
|
| 6 |
+
- RoboCOIN
|
| 7 |
+
- LeRobot
|
| 8 |
+
license: apache-2.0
|
| 9 |
+
configs:
|
| 10 |
+
- config_name: default
|
| 11 |
+
data_files: data/chunk-{id}/episode_{id}.parquet
|
| 12 |
+
extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
|
| 13 |
+
in your research/publications—see the "Citation" section for details. You agree
|
| 14 |
+
to not use the dataset to conduct experiments that cause harm to human subjects.
|
| 15 |
+
extra_gated_fields:
|
| 16 |
+
Company/Organization:
|
| 17 |
+
type: text
|
| 18 |
+
description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
|
| 19 |
+
Country:
|
| 20 |
+
type: country
|
| 21 |
+
description: e.g., "Germany", "China", "United States"
|
| 22 |
+
codebase_version: v2.1
|
| 23 |
+
dataset_name: Galbot_G1_load_floor_trash_1
|
| 24 |
+
dataset_uuid: e6badd0c-7f83-48c9-910a-de9248088890
|
| 25 |
+
scene_type:
|
| 26 |
+
level1: Household
|
| 27 |
+
level2: Living Room
|
| 28 |
+
level3: null
|
| 29 |
+
level4: null
|
| 30 |
+
level5: null
|
| 31 |
+
env_type: real_world
|
| 32 |
+
objects:
|
| 33 |
+
- id: trash_can
|
| 34 |
+
name: trash can
|
| 35 |
+
color: black
|
| 36 |
+
anchor_policy: static
|
| 37 |
+
- id: floor
|
| 38 |
+
name: floor
|
| 39 |
+
color: brown
|
| 40 |
+
anchor_policy: static
|
| 41 |
+
- id: canned_beverages
|
| 42 |
+
name: canned beverages
|
| 43 |
+
color: red
|
| 44 |
+
anchor_policy: static
|
| 45 |
+
- id: paper_cup
|
| 46 |
+
name: paper cup
|
| 47 |
+
color: white
|
| 48 |
+
anchor_policy: static
|
| 49 |
+
- id: disposable_cup_lid
|
| 50 |
+
name: disposable cup lid
|
| 51 |
+
color: white
|
| 52 |
+
anchor_policy: static
|
| 53 |
+
- id: toothpaste_packaging
|
| 54 |
+
name: toothpaste packaging
|
| 55 |
+
color: other
|
| 56 |
+
anchor_policy: static
|
| 57 |
+
- id: tissue_paper
|
| 58 |
+
name: tissue paper
|
| 59 |
+
color: brown
|
| 60 |
+
anchor_policy: static
|
| 61 |
+
- id: popcorn
|
| 62 |
+
name: popcorn
|
| 63 |
+
color: yellow
|
| 64 |
+
anchor_policy: static
|
| 65 |
+
- id: medical_mask
|
| 66 |
+
name: medical mask
|
| 67 |
+
color: green
|
| 68 |
+
anchor_policy: static
|
| 69 |
+
task_operation_type: mobile_dual_arm
|
| 70 |
+
task_instruction: Pick up the trash bin and place the garbage on the floor into it.
|
| 71 |
+
sub_tasks:
|
| 72 |
+
- Pick up the trash bin and place the garbage on the floor into it.
|
| 73 |
+
atomic_actions:
|
| 74 |
+
- move
|
| 75 |
+
- grasp
|
| 76 |
+
- place
|
| 77 |
+
robot_name: Galbot_G1
|
| 78 |
+
end_effector_type: two_finger_end_effector
|
| 79 |
+
tele_type: master_arm
|
| 80 |
+
sensor_list:
|
| 81 |
+
- cam_right_head_rgb
|
| 82 |
+
- cam_left_head_rgb
|
| 83 |
+
- cam_right_wrist_rgb
|
| 84 |
+
- cam_left_wrist_rgb
|
| 85 |
+
came_info:
|
| 86 |
+
cam_right_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 87 |
+
pix_fmt=yuv420p
|
| 88 |
+
cam_left_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 89 |
+
pix_fmt=yuv420p
|
| 90 |
+
cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 91 |
+
pix_fmt=yuv420p
|
| 92 |
+
cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 93 |
+
pix_fmt=yuv420p
|
| 94 |
+
depth_enabled: false
|
| 95 |
+
coordinate_definition: right-hand-frame
|
| 96 |
+
joint_rotation_dim: radian
|
| 97 |
+
end_rotation_dim: radian
|
| 98 |
+
end_translation_dim: meter
|
| 99 |
+
base_translation_dim: meter
|
| 100 |
+
annotations:
|
| 101 |
+
- eef_acc_mag_annotation.jsonl
|
| 102 |
+
- eef_direction_annotation.jsonl
|
| 103 |
+
- eef_velocity_annotation.jsonl
|
| 104 |
+
- gripper_activity_annotation.jsonl
|
| 105 |
+
- gripper_mode_annotation.jsonl
|
| 106 |
+
statistics:
|
| 107 |
+
total_episodes: 100
|
| 108 |
+
total_frames: 229017
|
| 109 |
+
fps: 30
|
| 110 |
+
total_tasks: 1
|
| 111 |
+
total_videos: 400
|
| 112 |
+
total_chunks: 1
|
| 113 |
+
chunks_size: 10000
|
| 114 |
+
state_dim: 38
|
| 115 |
+
action_dim: 38
|
| 116 |
+
camera_views: 4
|
| 117 |
+
dataset_size: 11.05 GB
|
| 118 |
+
frame_num: 229017
|
| 119 |
+
frame_range: 1M
|
| 120 |
+
dataset_size: 11.05 GB
|
| 121 |
+
data_structure: 'Galbot_G1_load_floor_trash_1_qced_hardlink/
|
| 122 |
+
|
| 123 |
+
|-- annotations
|
| 124 |
+
|
| 125 |
+
| |-- eef_acc_mag_annotation.jsonl
|
| 126 |
+
|
| 127 |
+
| |-- eef_direction_annotation.jsonl
|
| 128 |
+
|
| 129 |
+
| |-- eef_velocity_annotation.jsonl
|
| 130 |
+
|
| 131 |
+
| |-- gripper_activity_annotation.jsonl
|
| 132 |
+
|
| 133 |
+
| `-- gripper_mode_annotation.jsonl
|
| 134 |
+
|
| 135 |
+
|-- data
|
| 136 |
+
|
| 137 |
+
| `-- chunk-000
|
| 138 |
+
|
| 139 |
+
| |-- episode_000000.parquet
|
| 140 |
+
|
| 141 |
+
| |-- episode_000001.parquet
|
| 142 |
+
|
| 143 |
+
| |-- episode_000002.parquet
|
| 144 |
+
|
| 145 |
+
| |-- episode_000003.parquet
|
| 146 |
+
|
| 147 |
+
| |-- episode_000004.parquet
|
| 148 |
+
|
| 149 |
+
| |-- episode_000005.parquet
|
| 150 |
+
|
| 151 |
+
| |-- episode_000006.parquet
|
| 152 |
+
|
| 153 |
+
| |-- episode_000007.parquet
|
| 154 |
+
|
| 155 |
+
| |-- episode_000008.parquet
|
| 156 |
+
|
| 157 |
+
| |-- episode_000009.parquet
|
| 158 |
+
|
| 159 |
+
| |-- episode_000010.parquet
|
| 160 |
+
|
| 161 |
+
| `-- episode_000011.parquet
|
| 162 |
+
|
| 163 |
+
| `-- ... (88 more entries)
|
| 164 |
+
|
| 165 |
+
|-- meta
|
| 166 |
+
|
| 167 |
+
| |-- episodes.jsonl
|
| 168 |
+
|
| 169 |
+
| |-- episodes_stats.jsonl
|
| 170 |
+
|
| 171 |
+
| |-- info.json
|
| 172 |
+
|
| 173 |
+
| `-- tasks.jsonl
|
| 174 |
+
|
| 175 |
+
|-- videos
|
| 176 |
+
|
| 177 |
+
| `-- chunk-000
|
| 178 |
+
|
| 179 |
+
| |-- observation.images.cam_left_head_rgb
|
| 180 |
+
|
| 181 |
+
| |-- observation.images.cam_left_wrist_rgb
|
| 182 |
+
|
| 183 |
+
| |-- observation.images.cam_right_head_rgb
|
| 184 |
+
|
| 185 |
+
| `-- observation.images.cam_right_wrist_rgb
|
| 186 |
+
|
| 187 |
+
|-- info.yaml
|
| 188 |
+
|
| 189 |
+
`-- README.md'
|
| 190 |
+
splits:
|
| 191 |
+
train: 0:99
|
| 192 |
+
features:
|
| 193 |
+
action:
|
| 194 |
+
dtype: float32
|
| 195 |
+
names:
|
| 196 |
+
- right_arm_joint_1_rad
|
| 197 |
+
- right_arm_joint_2_rad
|
| 198 |
+
- right_arm_joint_3_rad
|
| 199 |
+
- right_arm_joint_4_rad
|
| 200 |
+
- right_arm_joint_5_rad
|
| 201 |
+
- right_arm_joint_6_rad
|
| 202 |
+
- right_arm_joint_7_rad
|
| 203 |
+
- right_gripper_open
|
| 204 |
+
- left_arm_joint_1_rad
|
| 205 |
+
- left_arm_joint_2_rad
|
| 206 |
+
- left_arm_joint_3_rad
|
| 207 |
+
- left_arm_joint_4_rad
|
| 208 |
+
- left_arm_joint_5_rad
|
| 209 |
+
- left_arm_joint_6_rad
|
| 210 |
+
- left_arm_joint_7_rad
|
| 211 |
+
- left_gripper_open
|
| 212 |
+
- torso_joint_1_rad
|
| 213 |
+
- torso_joint_2_rad
|
| 214 |
+
- torso_joint_3_rad
|
| 215 |
+
- torso_joint_4_rad
|
| 216 |
+
- torso_joint_5_rad
|
| 217 |
+
- head_joint_1_rad
|
| 218 |
+
- head_joint_2_rad
|
| 219 |
+
- chassis_pos_1
|
| 220 |
+
- chassis_pos_2
|
| 221 |
+
- chassis_pos_3
|
| 222 |
+
- chassis_pos_4
|
| 223 |
+
- chassis_vel_1
|
| 224 |
+
- chassis_vel_2
|
| 225 |
+
- chassis_vel_3
|
| 226 |
+
- chassis_vel_4
|
| 227 |
+
- base_pos_x_m
|
| 228 |
+
- base_pos_y_m
|
| 229 |
+
- base_orient_quat_z
|
| 230 |
+
- base_orient_quat_w
|
| 231 |
+
- base_vel_x_m_s
|
| 232 |
+
- base_vel_y_m_s
|
| 233 |
+
- base_vel_angular_z_rad_s
|
| 234 |
+
shape:
|
| 235 |
+
- 38
|
| 236 |
+
observation.state:
|
| 237 |
+
dtype: float32
|
| 238 |
+
names:
|
| 239 |
+
- right_arm_joint_1_rad
|
| 240 |
+
- right_arm_joint_2_rad
|
| 241 |
+
- right_arm_joint_3_rad
|
| 242 |
+
- right_arm_joint_4_rad
|
| 243 |
+
- right_arm_joint_5_rad
|
| 244 |
+
- right_arm_joint_6_rad
|
| 245 |
+
- right_arm_joint_7_rad
|
| 246 |
+
- right_gripper_open
|
| 247 |
+
- left_arm_joint_1_rad
|
| 248 |
+
- left_arm_joint_2_rad
|
| 249 |
+
- left_arm_joint_3_rad
|
| 250 |
+
- left_arm_joint_4_rad
|
| 251 |
+
- left_arm_joint_5_rad
|
| 252 |
+
- left_arm_joint_6_rad
|
| 253 |
+
- left_arm_joint_7_rad
|
| 254 |
+
- left_gripper_open
|
| 255 |
+
- torso_joint_1_rad
|
| 256 |
+
- torso_joint_2_rad
|
| 257 |
+
- torso_joint_3_rad
|
| 258 |
+
- torso_joint_4_rad
|
| 259 |
+
- torso_joint_5_rad
|
| 260 |
+
- head_joint_1_rad
|
| 261 |
+
- head_joint_2_rad
|
| 262 |
+
- chassis_pos_1
|
| 263 |
+
- chassis_pos_2
|
| 264 |
+
- chassis_pos_3
|
| 265 |
+
- chassis_pos_4
|
| 266 |
+
- chassis_vel_1
|
| 267 |
+
- chassis_vel_2
|
| 268 |
+
- chassis_vel_3
|
| 269 |
+
- chassis_vel_4
|
| 270 |
+
- base_pos_x_m
|
| 271 |
+
- base_pos_y_m
|
| 272 |
+
- base_orient_quat_z
|
| 273 |
+
- base_orient_quat_w
|
| 274 |
+
- base_vel_x_m_s
|
| 275 |
+
- base_vel_y_m_s
|
| 276 |
+
- base_vel_angular_z_rad_s
|
| 277 |
+
shape:
|
| 278 |
+
- 38
|
| 279 |
+
observation.images.cam_right_head_rgb:
|
| 280 |
+
dtype: video
|
| 281 |
+
shape:
|
| 282 |
+
- 480
|
| 283 |
+
- 640
|
| 284 |
+
- 3
|
| 285 |
+
names:
|
| 286 |
+
- height
|
| 287 |
+
- width
|
| 288 |
+
- channels
|
| 289 |
+
info:
|
| 290 |
+
video.fps: 30
|
| 291 |
+
video.height: 480
|
| 292 |
+
video.width: 640
|
| 293 |
+
video.channels: 3
|
| 294 |
+
video.codec: libx264
|
| 295 |
+
video.pix_fmt: yuv420p
|
| 296 |
+
video.is_depth_map: false
|
| 297 |
+
has_audio: false
|
| 298 |
+
observation.images.cam_left_head_rgb:
|
| 299 |
+
dtype: video
|
| 300 |
+
shape:
|
| 301 |
+
- 480
|
| 302 |
+
- 640
|
| 303 |
+
- 3
|
| 304 |
+
names:
|
| 305 |
+
- height
|
| 306 |
+
- width
|
| 307 |
+
- channels
|
| 308 |
+
info:
|
| 309 |
+
video.fps: 30
|
| 310 |
+
video.height: 480
|
| 311 |
+
video.width: 640
|
| 312 |
+
video.channels: 3
|
| 313 |
+
video.codec: libx264
|
| 314 |
+
video.pix_fmt: yuv420p
|
| 315 |
+
video.is_depth_map: false
|
| 316 |
+
has_audio: false
|
| 317 |
+
observation.images.cam_right_wrist_rgb:
|
| 318 |
+
dtype: video
|
| 319 |
+
shape:
|
| 320 |
+
- 480
|
| 321 |
+
- 640
|
| 322 |
+
- 3
|
| 323 |
+
names:
|
| 324 |
+
- height
|
| 325 |
+
- width
|
| 326 |
+
- channels
|
| 327 |
+
info:
|
| 328 |
+
video.fps: 30
|
| 329 |
+
video.height: 480
|
| 330 |
+
video.width: 640
|
| 331 |
+
video.channels: 3
|
| 332 |
+
video.codec: libx264
|
| 333 |
+
video.pix_fmt: yuv420p
|
| 334 |
+
video.is_depth_map: false
|
| 335 |
+
has_audio: false
|
| 336 |
+
observation.images.cam_left_wrist_rgb:
|
| 337 |
+
dtype: video
|
| 338 |
+
shape:
|
| 339 |
+
- 480
|
| 340 |
+
- 640
|
| 341 |
+
- 3
|
| 342 |
+
names:
|
| 343 |
+
- height
|
| 344 |
+
- width
|
| 345 |
+
- channels
|
| 346 |
+
info:
|
| 347 |
+
video.fps: 30
|
| 348 |
+
video.height: 480
|
| 349 |
+
video.width: 640
|
| 350 |
+
video.channels: 3
|
| 351 |
+
video.codec: libx264
|
| 352 |
+
video.pix_fmt: yuv420p
|
| 353 |
+
video.is_depth_map: false
|
| 354 |
+
has_audio: false
|
| 355 |
+
timestamp:
|
| 356 |
+
dtype: float32
|
| 357 |
+
shape:
|
| 358 |
+
- 1
|
| 359 |
+
names: null
|
| 360 |
+
frame_index:
|
| 361 |
+
dtype: int64
|
| 362 |
+
shape:
|
| 363 |
+
- 1
|
| 364 |
+
names: null
|
| 365 |
+
episode_index:
|
| 366 |
+
dtype: int64
|
| 367 |
+
shape:
|
| 368 |
+
- 1
|
| 369 |
+
names: null
|
| 370 |
+
index:
|
| 371 |
+
dtype: int64
|
| 372 |
+
shape:
|
| 373 |
+
- 1
|
| 374 |
+
names: null
|
| 375 |
+
task_index:
|
| 376 |
+
dtype: int64
|
| 377 |
+
shape:
|
| 378 |
+
- 1
|
| 379 |
+
names: null
|
| 380 |
+
gripper_open_scale_state:
|
| 381 |
+
names:
|
| 382 |
+
- left_gripper_open_scale
|
| 383 |
+
- right_gripper_open_scale
|
| 384 |
+
dtype: float64
|
| 385 |
+
shape:
|
| 386 |
+
- 2
|
| 387 |
+
gripper_open_scale_action:
|
| 388 |
+
names:
|
| 389 |
+
- left_gripper_open_scale
|
| 390 |
+
- right_gripper_open_scale
|
| 391 |
+
dtype: float64
|
| 392 |
+
shape:
|
| 393 |
+
- 2
|
| 394 |
+
eef_sim_pose_state:
|
| 395 |
+
names:
|
| 396 |
+
- left_eef_pos_x
|
| 397 |
+
- left_eef_pos_y
|
| 398 |
+
- left_eef_pos_z
|
| 399 |
+
- left_eef_rot_x
|
| 400 |
+
- left_eef_rot_y
|
| 401 |
+
- left_eef_rot_z
|
| 402 |
+
- right_eef_pos_x
|
| 403 |
+
- right_eef_pos_y
|
| 404 |
+
- right_eef_pos_z
|
| 405 |
+
- right_eef_rot_x
|
| 406 |
+
- right_eef_rot_y
|
| 407 |
+
- right_eef_rot_z
|
| 408 |
+
dtype: float32
|
| 409 |
+
shape:
|
| 410 |
+
- 12
|
| 411 |
+
eef_sim_pose_action:
|
| 412 |
+
names:
|
| 413 |
+
- left_eef_pos_x
|
| 414 |
+
- left_eef_pos_y
|
| 415 |
+
- left_eef_pos_z
|
| 416 |
+
- left_eef_rot_x
|
| 417 |
+
- left_eef_rot_y
|
| 418 |
+
- left_eef_rot_z
|
| 419 |
+
- right_eef_pos_x
|
| 420 |
+
- right_eef_pos_y
|
| 421 |
+
- right_eef_pos_z
|
| 422 |
+
- right_eef_rot_x
|
| 423 |
+
- right_eef_rot_y
|
| 424 |
+
- right_eef_rot_z
|
| 425 |
+
dtype: float32
|
| 426 |
+
shape:
|
| 427 |
+
- 12
|
| 428 |
+
eef_direction_state:
|
| 429 |
+
names:
|
| 430 |
+
- left_eef_direction
|
| 431 |
+
- right_eef_direction
|
| 432 |
+
dtype: int32
|
| 433 |
+
shape:
|
| 434 |
+
- 2
|
| 435 |
+
eef_direction_action:
|
| 436 |
+
names:
|
| 437 |
+
- left_eef_direction
|
| 438 |
+
- right_eef_direction
|
| 439 |
+
dtype: int32
|
| 440 |
+
shape:
|
| 441 |
+
- 2
|
| 442 |
+
eef_velocity_state:
|
| 443 |
+
names:
|
| 444 |
+
- left_eef_velocity
|
| 445 |
+
- right_eef_velocity
|
| 446 |
+
dtype: int32
|
| 447 |
+
shape:
|
| 448 |
+
- 2
|
| 449 |
+
eef_velocity_action:
|
| 450 |
+
names:
|
| 451 |
+
- left_eef_velocity
|
| 452 |
+
- right_eef_velocity
|
| 453 |
+
dtype: int32
|
| 454 |
+
shape:
|
| 455 |
+
- 2
|
| 456 |
+
eef_acc_mag_state:
|
| 457 |
+
names:
|
| 458 |
+
- left_eef_acc_mag
|
| 459 |
+
- right_eef_acc_mag
|
| 460 |
+
dtype: int32
|
| 461 |
+
shape:
|
| 462 |
+
- 2
|
| 463 |
+
eef_acc_mag_action:
|
| 464 |
+
names:
|
| 465 |
+
- left_eef_acc_mag
|
| 466 |
+
- right_eef_acc_mag
|
| 467 |
+
dtype: int32
|
| 468 |
+
shape:
|
| 469 |
+
- 2
|
| 470 |
+
gripper_mode_state:
|
| 471 |
+
names:
|
| 472 |
+
- left_gripper_mode
|
| 473 |
+
- right_gripper_mode
|
| 474 |
+
dtype: int32
|
| 475 |
+
shape:
|
| 476 |
+
- 2
|
| 477 |
+
gripper_mode_action:
|
| 478 |
+
names:
|
| 479 |
+
- left_gripper_mode
|
| 480 |
+
- right_gripper_mode
|
| 481 |
+
dtype: int32
|
| 482 |
+
shape:
|
| 483 |
+
- 2
|
| 484 |
+
gripper_activity_state:
|
| 485 |
+
names:
|
| 486 |
+
- left_gripper_activity
|
| 487 |
+
- right_gripper_activity
|
| 488 |
+
dtype: int32
|
| 489 |
+
shape:
|
| 490 |
+
- 2
|
| 491 |
+
gripper_activity_action:
|
| 492 |
+
names:
|
| 493 |
+
- left_gripper_activity
|
| 494 |
+
- right_gripper_activity
|
| 495 |
+
dtype: int32
|
| 496 |
+
shape:
|
| 497 |
+
- 2
|
| 498 |
+
authors:
|
| 499 |
+
contributed_by:
|
| 500 |
+
- name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
|
| 501 |
+
dataset_description: This dataset uses an extended format based on LeRobot and is
|
| 502 |
+
fully compatible with LeRobot.
|
| 503 |
+
homepage: https://flagopen.github.io/RoboCOIN/
|
| 504 |
+
paper: https://arxiv.org/abs/2511.17441
|
| 505 |
+
repository: https://github.com/FlagOpen/RoboCOIN
|
| 506 |
+
contact_info: For questions, issues, or feedback regarding this dataset, please contact
|
| 507 |
+
us.
|
| 508 |
+
support_info: For technical support, please open an issue on our GitHub repository.
|
| 509 |
+
license_details: apache-2.0
|
| 510 |
+
citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\
|
| 511 |
+
\ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\
|
| 512 |
+
\ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
|
| 513 |
+
\ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
|
| 514 |
+
\ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
|
| 515 |
+
\ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
|
| 516 |
+
\ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
|
| 517 |
+
\ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
|
| 518 |
+
\ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
|
| 519 |
+
\ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
|
| 520 |
+
\ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
|
| 521 |
+
\ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
|
| 522 |
+
\ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
|
| 523 |
+
\ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
|
| 524 |
+
\ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\
|
| 525 |
+
\ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n"
|
| 526 |
+
additional_citations: 'If you use this dataset, please also consider citing:
|
| 527 |
+
|
| 528 |
+
LeRobot Framework: https://github.com/huggingface/lerobot
|
| 529 |
+
|
| 530 |
+
'
|
| 531 |
+
version_info: Initial Release
|
| 532 |
+
data_path: data/chunk-{id}/episode_{id}.parquet
|
| 533 |
+
video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
|
| 534 |
+
video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4
|
dataset_info/Galbot_G1_load_floor_trash_2.yaml
ADDED
|
@@ -0,0 +1,526 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
| 1 |
+
task_categories:
|
| 2 |
+
- robotics
|
| 3 |
+
language:
|
| 4 |
+
- en
|
| 5 |
+
tags:
|
| 6 |
+
- RoboCOIN
|
| 7 |
+
- LeRobot
|
| 8 |
+
license: apache-2.0
|
| 9 |
+
configs:
|
| 10 |
+
- config_name: default
|
| 11 |
+
data_files: data/chunk-{id}/episode_{id}.parquet
|
| 12 |
+
extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
|
| 13 |
+
in your research/publications—see the "Citation" section for details. You agree
|
| 14 |
+
to not use the dataset to conduct experiments that cause harm to human subjects.
|
| 15 |
+
extra_gated_fields:
|
| 16 |
+
Company/Organization:
|
| 17 |
+
type: text
|
| 18 |
+
description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
|
| 19 |
+
Country:
|
| 20 |
+
type: country
|
| 21 |
+
description: e.g., "Germany", "China", "United States"
|
| 22 |
+
codebase_version: v2.1
|
| 23 |
+
dataset_name: Galbot_G1_load_floor_trash_2
|
| 24 |
+
dataset_uuid: 34216722-2fcd-45b8-a8ae-61321f6bd9cc
|
| 25 |
+
scene_type:
|
| 26 |
+
level1: Household
|
| 27 |
+
level2: Bedroom
|
| 28 |
+
level3: null
|
| 29 |
+
level4: null
|
| 30 |
+
level5: null
|
| 31 |
+
env_type: real_world
|
| 32 |
+
objects:
|
| 33 |
+
- id: trash_can
|
| 34 |
+
name: trash can
|
| 35 |
+
color: black
|
| 36 |
+
anchor_policy: static
|
| 37 |
+
- id: canned_beverages
|
| 38 |
+
name: canned beverages
|
| 39 |
+
color: red
|
| 40 |
+
anchor_policy: static
|
| 41 |
+
- id: slippers
|
| 42 |
+
name: Slippers
|
| 43 |
+
color: white
|
| 44 |
+
anchor_policy: static
|
| 45 |
+
- id: paper_ball
|
| 46 |
+
name: paper ball
|
| 47 |
+
color: white
|
| 48 |
+
anchor_policy: static
|
| 49 |
+
- id: straw
|
| 50 |
+
name: straw
|
| 51 |
+
color: brown
|
| 52 |
+
anchor_policy: static
|
| 53 |
+
- id: disposable_takeout_box
|
| 54 |
+
name: disposable takeout box
|
| 55 |
+
color: red
|
| 56 |
+
anchor_policy: static
|
| 57 |
+
- id: ice_cream_wrapper
|
| 58 |
+
name: ice cream wrapper
|
| 59 |
+
color: red
|
| 60 |
+
anchor_policy: static
|
| 61 |
+
task_operation_type: mobile_dual_arm
|
| 62 |
+
task_instruction: Pick up the trash bin and place the garbage on the floor into it.
|
| 63 |
+
sub_tasks:
|
| 64 |
+
- Pick up the trash bin and place the garbage on the floor into it.
|
| 65 |
+
atomic_actions:
|
| 66 |
+
- move
|
| 67 |
+
- grasp
|
| 68 |
+
- place
|
| 69 |
+
robot_name: Galbot_G1
|
| 70 |
+
end_effector_type: two_finger_end_effector
|
| 71 |
+
tele_type: master_arm
|
| 72 |
+
sensor_list:
|
| 73 |
+
- cam_right_head_rgb
|
| 74 |
+
- cam_left_head_rgb
|
| 75 |
+
- cam_right_wrist_rgb
|
| 76 |
+
- cam_left_wrist_rgb
|
| 77 |
+
came_info:
|
| 78 |
+
cam_right_head_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264,
|
| 79 |
+
pix_fmt=yuv420p
|
| 80 |
+
cam_left_head_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264,
|
| 81 |
+
pix_fmt=yuv420p
|
| 82 |
+
cam_right_wrist_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264,
|
| 83 |
+
pix_fmt=yuv420p
|
| 84 |
+
cam_left_wrist_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264,
|
| 85 |
+
pix_fmt=yuv420p
|
| 86 |
+
depth_enabled: false
|
| 87 |
+
coordinate_definition: right-hand-frame
|
| 88 |
+
joint_rotation_dim: radian
|
| 89 |
+
end_rotation_dim: radian
|
| 90 |
+
end_translation_dim: meter
|
| 91 |
+
base_translation_dim: meter
|
| 92 |
+
annotations:
|
| 93 |
+
- eef_acc_mag_annotation.jsonl
|
| 94 |
+
- eef_direction_annotation.jsonl
|
| 95 |
+
- eef_velocity_annotation.jsonl
|
| 96 |
+
- gripper_activity_annotation.jsonl
|
| 97 |
+
- gripper_mode_annotation.jsonl
|
| 98 |
+
statistics:
|
| 99 |
+
total_episodes: 82
|
| 100 |
+
total_frames: 312911
|
| 101 |
+
fps: 30
|
| 102 |
+
total_tasks: 1
|
| 103 |
+
total_videos: 328
|
| 104 |
+
total_chunks: 1
|
| 105 |
+
chunks_size: 10000
|
| 106 |
+
state_dim: 38
|
| 107 |
+
action_dim: 38
|
| 108 |
+
camera_views: 4
|
| 109 |
+
dataset_size: 26.04 GB
|
| 110 |
+
frame_num: 312911
|
| 111 |
+
frame_range: 1M
|
| 112 |
+
dataset_size: 26.04 GB
|
| 113 |
+
data_structure: 'Galbot_G1_load_floor_trash_2_qced_hardlink/
|
| 114 |
+
|
| 115 |
+
|-- annotations
|
| 116 |
+
|
| 117 |
+
| |-- eef_acc_mag_annotation.jsonl
|
| 118 |
+
|
| 119 |
+
| |-- eef_direction_annotation.jsonl
|
| 120 |
+
|
| 121 |
+
| |-- eef_velocity_annotation.jsonl
|
| 122 |
+
|
| 123 |
+
| |-- gripper_activity_annotation.jsonl
|
| 124 |
+
|
| 125 |
+
| `-- gripper_mode_annotation.jsonl
|
| 126 |
+
|
| 127 |
+
|-- data
|
| 128 |
+
|
| 129 |
+
| `-- chunk-000
|
| 130 |
+
|
| 131 |
+
| |-- episode_000000.parquet
|
| 132 |
+
|
| 133 |
+
| |-- episode_000001.parquet
|
| 134 |
+
|
| 135 |
+
| |-- episode_000002.parquet
|
| 136 |
+
|
| 137 |
+
| |-- episode_000003.parquet
|
| 138 |
+
|
| 139 |
+
| |-- episode_000004.parquet
|
| 140 |
+
|
| 141 |
+
| |-- episode_000005.parquet
|
| 142 |
+
|
| 143 |
+
| |-- episode_000006.parquet
|
| 144 |
+
|
| 145 |
+
| |-- episode_000007.parquet
|
| 146 |
+
|
| 147 |
+
| |-- episode_000008.parquet
|
| 148 |
+
|
| 149 |
+
| |-- episode_000009.parquet
|
| 150 |
+
|
| 151 |
+
| |-- episode_000010.parquet
|
| 152 |
+
|
| 153 |
+
| `-- episode_000011.parquet
|
| 154 |
+
|
| 155 |
+
| `-- ... (70 more entries)
|
| 156 |
+
|
| 157 |
+
|-- meta
|
| 158 |
+
|
| 159 |
+
| |-- episodes.jsonl
|
| 160 |
+
|
| 161 |
+
| |-- episodes_stats.jsonl
|
| 162 |
+
|
| 163 |
+
| |-- info.json
|
| 164 |
+
|
| 165 |
+
| `-- tasks.jsonl
|
| 166 |
+
|
| 167 |
+
|-- videos
|
| 168 |
+
|
| 169 |
+
| `-- chunk-000
|
| 170 |
+
|
| 171 |
+
| |-- observation.images.cam_left_head_rgb
|
| 172 |
+
|
| 173 |
+
| |-- observation.images.cam_left_wrist_rgb
|
| 174 |
+
|
| 175 |
+
| |-- observation.images.cam_right_head_rgb
|
| 176 |
+
|
| 177 |
+
| `-- observation.images.cam_right_wrist_rgb
|
| 178 |
+
|
| 179 |
+
|-- info.yaml
|
| 180 |
+
|
| 181 |
+
`-- README.md'
|
| 182 |
+
splits:
|
| 183 |
+
train: 0:81
|
| 184 |
+
features:
|
| 185 |
+
action:
|
| 186 |
+
dtype: float32
|
| 187 |
+
names:
|
| 188 |
+
- right_arm_joint_1_rad
|
| 189 |
+
- right_arm_joint_2_rad
|
| 190 |
+
- right_arm_joint_3_rad
|
| 191 |
+
- right_arm_joint_4_rad
|
| 192 |
+
- right_arm_joint_5_rad
|
| 193 |
+
- right_arm_joint_6_rad
|
| 194 |
+
- right_arm_joint_7_rad
|
| 195 |
+
- right_gripper_open
|
| 196 |
+
- left_arm_joint_1_rad
|
| 197 |
+
- left_arm_joint_2_rad
|
| 198 |
+
- left_arm_joint_3_rad
|
| 199 |
+
- left_arm_joint_4_rad
|
| 200 |
+
- left_arm_joint_5_rad
|
| 201 |
+
- left_arm_joint_6_rad
|
| 202 |
+
- left_arm_joint_7_rad
|
| 203 |
+
- left_gripper_open
|
| 204 |
+
- torso_joint_1_rad
|
| 205 |
+
- torso_joint_2_rad
|
| 206 |
+
- torso_joint_3_rad
|
| 207 |
+
- torso_joint_4_rad
|
| 208 |
+
- torso_joint_5_rad
|
| 209 |
+
- head_joint_1_rad
|
| 210 |
+
- head_joint_2_rad
|
| 211 |
+
- chassis_pos_1
|
| 212 |
+
- chassis_pos_2
|
| 213 |
+
- chassis_pos_3
|
| 214 |
+
- chassis_pos_4
|
| 215 |
+
- chassis_vel_1
|
| 216 |
+
- chassis_vel_2
|
| 217 |
+
- chassis_vel_3
|
| 218 |
+
- chassis_vel_4
|
| 219 |
+
- base_pos_x_m
|
| 220 |
+
- base_pos_y_m
|
| 221 |
+
- base_orient_quat_z
|
| 222 |
+
- base_orient_quat_w
|
| 223 |
+
- base_vel_x_m_s
|
| 224 |
+
- base_vel_y_m_s
|
| 225 |
+
- base_vel_angular_z_rad_s
|
| 226 |
+
shape:
|
| 227 |
+
- 38
|
| 228 |
+
observation.state:
|
| 229 |
+
dtype: float32
|
| 230 |
+
names:
|
| 231 |
+
- right_arm_joint_1_rad
|
| 232 |
+
- right_arm_joint_2_rad
|
| 233 |
+
- right_arm_joint_3_rad
|
| 234 |
+
- right_arm_joint_4_rad
|
| 235 |
+
- right_arm_joint_5_rad
|
| 236 |
+
- right_arm_joint_6_rad
|
| 237 |
+
- right_arm_joint_7_rad
|
| 238 |
+
- right_gripper_open
|
| 239 |
+
- left_arm_joint_1_rad
|
| 240 |
+
- left_arm_joint_2_rad
|
| 241 |
+
- left_arm_joint_3_rad
|
| 242 |
+
- left_arm_joint_4_rad
|
| 243 |
+
- left_arm_joint_5_rad
|
| 244 |
+
- left_arm_joint_6_rad
|
| 245 |
+
- left_arm_joint_7_rad
|
| 246 |
+
- left_gripper_open
|
| 247 |
+
- torso_joint_1_rad
|
| 248 |
+
- torso_joint_2_rad
|
| 249 |
+
- torso_joint_3_rad
|
| 250 |
+
- torso_joint_4_rad
|
| 251 |
+
- torso_joint_5_rad
|
| 252 |
+
- head_joint_1_rad
|
| 253 |
+
- head_joint_2_rad
|
| 254 |
+
- chassis_pos_1
|
| 255 |
+
- chassis_pos_2
|
| 256 |
+
- chassis_pos_3
|
| 257 |
+
- chassis_pos_4
|
| 258 |
+
- chassis_vel_1
|
| 259 |
+
- chassis_vel_2
|
| 260 |
+
- chassis_vel_3
|
| 261 |
+
- chassis_vel_4
|
| 262 |
+
- base_pos_x_m
|
| 263 |
+
- base_pos_y_m
|
| 264 |
+
- base_orient_quat_z
|
| 265 |
+
- base_orient_quat_w
|
| 266 |
+
- base_vel_x_m_s
|
| 267 |
+
- base_vel_y_m_s
|
| 268 |
+
- base_vel_angular_z_rad_s
|
| 269 |
+
shape:
|
| 270 |
+
- 38
|
| 271 |
+
observation.images.cam_right_head_rgb:
|
| 272 |
+
dtype: video
|
| 273 |
+
shape:
|
| 274 |
+
- 720
|
| 275 |
+
- 960
|
| 276 |
+
- 3
|
| 277 |
+
names:
|
| 278 |
+
- height
|
| 279 |
+
- width
|
| 280 |
+
- channels
|
| 281 |
+
info:
|
| 282 |
+
video.fps: 30
|
| 283 |
+
video.height: 720
|
| 284 |
+
video.width: 960
|
| 285 |
+
video.channels: 3
|
| 286 |
+
video.codec: libx264
|
| 287 |
+
video.pix_fmt: yuv420p
|
| 288 |
+
video.is_depth_map: false
|
| 289 |
+
has_audio: false
|
| 290 |
+
observation.images.cam_left_head_rgb:
|
| 291 |
+
dtype: video
|
| 292 |
+
shape:
|
| 293 |
+
- 720
|
| 294 |
+
- 960
|
| 295 |
+
- 3
|
| 296 |
+
names:
|
| 297 |
+
- height
|
| 298 |
+
- width
|
| 299 |
+
- channels
|
| 300 |
+
info:
|
| 301 |
+
video.fps: 30
|
| 302 |
+
video.height: 720
|
| 303 |
+
video.width: 960
|
| 304 |
+
video.channels: 3
|
| 305 |
+
video.codec: libx264
|
| 306 |
+
video.pix_fmt: yuv420p
|
| 307 |
+
video.is_depth_map: false
|
| 308 |
+
has_audio: false
|
| 309 |
+
observation.images.cam_right_wrist_rgb:
|
| 310 |
+
dtype: video
|
| 311 |
+
shape:
|
| 312 |
+
- 720
|
| 313 |
+
- 960
|
| 314 |
+
- 3
|
| 315 |
+
names:
|
| 316 |
+
- height
|
| 317 |
+
- width
|
| 318 |
+
- channels
|
| 319 |
+
info:
|
| 320 |
+
video.fps: 30
|
| 321 |
+
video.height: 720
|
| 322 |
+
video.width: 960
|
| 323 |
+
video.channels: 3
|
| 324 |
+
video.codec: libx264
|
| 325 |
+
video.pix_fmt: yuv420p
|
| 326 |
+
video.is_depth_map: false
|
| 327 |
+
has_audio: false
|
| 328 |
+
observation.images.cam_left_wrist_rgb:
|
| 329 |
+
dtype: video
|
| 330 |
+
shape:
|
| 331 |
+
- 720
|
| 332 |
+
- 960
|
| 333 |
+
- 3
|
| 334 |
+
names:
|
| 335 |
+
- height
|
| 336 |
+
- width
|
| 337 |
+
- channels
|
| 338 |
+
info:
|
| 339 |
+
video.fps: 30
|
| 340 |
+
video.height: 720
|
| 341 |
+
video.width: 960
|
| 342 |
+
video.channels: 3
|
| 343 |
+
video.codec: libx264
|
| 344 |
+
video.pix_fmt: yuv420p
|
| 345 |
+
video.is_depth_map: false
|
| 346 |
+
has_audio: false
|
| 347 |
+
timestamp:
|
| 348 |
+
dtype: float32
|
| 349 |
+
shape:
|
| 350 |
+
- 1
|
| 351 |
+
names: null
|
| 352 |
+
frame_index:
|
| 353 |
+
dtype: int64
|
| 354 |
+
shape:
|
| 355 |
+
- 1
|
| 356 |
+
names: null
|
| 357 |
+
episode_index:
|
| 358 |
+
dtype: int64
|
| 359 |
+
shape:
|
| 360 |
+
- 1
|
| 361 |
+
names: null
|
| 362 |
+
index:
|
| 363 |
+
dtype: int64
|
| 364 |
+
shape:
|
| 365 |
+
- 1
|
| 366 |
+
names: null
|
| 367 |
+
task_index:
|
| 368 |
+
dtype: int64
|
| 369 |
+
shape:
|
| 370 |
+
- 1
|
| 371 |
+
names: null
|
| 372 |
+
gripper_open_scale_state:
|
| 373 |
+
names:
|
| 374 |
+
- left_gripper_open_scale
|
| 375 |
+
- right_gripper_open_scale
|
| 376 |
+
dtype: float64
|
| 377 |
+
shape:
|
| 378 |
+
- 2
|
| 379 |
+
gripper_open_scale_action:
|
| 380 |
+
names:
|
| 381 |
+
- left_gripper_open_scale
|
| 382 |
+
- right_gripper_open_scale
|
| 383 |
+
dtype: float64
|
| 384 |
+
shape:
|
| 385 |
+
- 2
|
| 386 |
+
eef_sim_pose_state:
|
| 387 |
+
names:
|
| 388 |
+
- left_eef_pos_x
|
| 389 |
+
- left_eef_pos_y
|
| 390 |
+
- left_eef_pos_z
|
| 391 |
+
- left_eef_rot_x
|
| 392 |
+
- left_eef_rot_y
|
| 393 |
+
- left_eef_rot_z
|
| 394 |
+
- right_eef_pos_x
|
| 395 |
+
- right_eef_pos_y
|
| 396 |
+
- right_eef_pos_z
|
| 397 |
+
- right_eef_rot_x
|
| 398 |
+
- right_eef_rot_y
|
| 399 |
+
- right_eef_rot_z
|
| 400 |
+
dtype: float32
|
| 401 |
+
shape:
|
| 402 |
+
- 12
|
| 403 |
+
eef_sim_pose_action:
|
| 404 |
+
names:
|
| 405 |
+
- left_eef_pos_x
|
| 406 |
+
- left_eef_pos_y
|
| 407 |
+
- left_eef_pos_z
|
| 408 |
+
- left_eef_rot_x
|
| 409 |
+
- left_eef_rot_y
|
| 410 |
+
- left_eef_rot_z
|
| 411 |
+
- right_eef_pos_x
|
| 412 |
+
- right_eef_pos_y
|
| 413 |
+
- right_eef_pos_z
|
| 414 |
+
- right_eef_rot_x
|
| 415 |
+
- right_eef_rot_y
|
| 416 |
+
- right_eef_rot_z
|
| 417 |
+
dtype: float32
|
| 418 |
+
shape:
|
| 419 |
+
- 12
|
| 420 |
+
eef_direction_state:
|
| 421 |
+
names:
|
| 422 |
+
- left_eef_direction
|
| 423 |
+
- right_eef_direction
|
| 424 |
+
dtype: int32
|
| 425 |
+
shape:
|
| 426 |
+
- 2
|
| 427 |
+
eef_direction_action:
|
| 428 |
+
names:
|
| 429 |
+
- left_eef_direction
|
| 430 |
+
- right_eef_direction
|
| 431 |
+
dtype: int32
|
| 432 |
+
shape:
|
| 433 |
+
- 2
|
| 434 |
+
eef_velocity_state:
|
| 435 |
+
names:
|
| 436 |
+
- left_eef_velocity
|
| 437 |
+
- right_eef_velocity
|
| 438 |
+
dtype: int32
|
| 439 |
+
shape:
|
| 440 |
+
- 2
|
| 441 |
+
eef_velocity_action:
|
| 442 |
+
names:
|
| 443 |
+
- left_eef_velocity
|
| 444 |
+
- right_eef_velocity
|
| 445 |
+
dtype: int32
|
| 446 |
+
shape:
|
| 447 |
+
- 2
|
| 448 |
+
eef_acc_mag_state:
|
| 449 |
+
names:
|
| 450 |
+
- left_eef_acc_mag
|
| 451 |
+
- right_eef_acc_mag
|
| 452 |
+
dtype: int32
|
| 453 |
+
shape:
|
| 454 |
+
- 2
|
| 455 |
+
eef_acc_mag_action:
|
| 456 |
+
names:
|
| 457 |
+
- left_eef_acc_mag
|
| 458 |
+
- right_eef_acc_mag
|
| 459 |
+
dtype: int32
|
| 460 |
+
shape:
|
| 461 |
+
- 2
|
| 462 |
+
gripper_mode_state:
|
| 463 |
+
names:
|
| 464 |
+
- left_gripper_mode
|
| 465 |
+
- right_gripper_mode
|
| 466 |
+
dtype: int32
|
| 467 |
+
shape:
|
| 468 |
+
- 2
|
| 469 |
+
gripper_mode_action:
|
| 470 |
+
names:
|
| 471 |
+
- left_gripper_mode
|
| 472 |
+
- right_gripper_mode
|
| 473 |
+
dtype: int32
|
| 474 |
+
shape:
|
| 475 |
+
- 2
|
| 476 |
+
gripper_activity_state:
|
| 477 |
+
names:
|
| 478 |
+
- left_gripper_activity
|
| 479 |
+
- right_gripper_activity
|
| 480 |
+
dtype: int32
|
| 481 |
+
shape:
|
| 482 |
+
- 2
|
| 483 |
+
gripper_activity_action:
|
| 484 |
+
names:
|
| 485 |
+
- left_gripper_activity
|
| 486 |
+
- right_gripper_activity
|
| 487 |
+
dtype: int32
|
| 488 |
+
shape:
|
| 489 |
+
- 2
|
| 490 |
+
authors:
|
| 491 |
+
contributed_by:
|
| 492 |
+
- name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
|
| 493 |
+
dataset_description: This dataset uses an extended format based on LeRobot and is
|
| 494 |
+
fully compatible with LeRobot.
|
| 495 |
+
homepage: https://flagopen.github.io/RoboCOIN/
|
| 496 |
+
paper: https://arxiv.org/abs/2511.17441
|
| 497 |
+
repository: https://github.com/FlagOpen/RoboCOIN
|
| 498 |
+
contact_info: For questions, issues, or feedback regarding this dataset, please contact
|
| 499 |
+
us.
|
| 500 |
+
support_info: For technical support, please open an issue on our GitHub repository.
|
| 501 |
+
license_details: apache-2.0
|
| 502 |
+
citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\
|
| 503 |
+
\ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\
|
| 504 |
+
\ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
|
| 505 |
+
\ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
|
| 506 |
+
\ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
|
| 507 |
+
\ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
|
| 508 |
+
\ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
|
| 509 |
+
\ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
|
| 510 |
+
\ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
|
| 511 |
+
\ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
|
| 512 |
+
\ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
|
| 513 |
+
\ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
|
| 514 |
+
\ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
|
| 515 |
+
\ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
|
| 516 |
+
\ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\
|
| 517 |
+
\ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n"
|
| 518 |
+
additional_citations: 'If you use this dataset, please also consider citing:
|
| 519 |
+
|
| 520 |
+
LeRobot Framework: https://github.com/huggingface/lerobot
|
| 521 |
+
|
| 522 |
+
'
|
| 523 |
+
version_info: Initial Release
|
| 524 |
+
data_path: data/chunk-{id}/episode_{id}.parquet
|
| 525 |
+
video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
|
| 526 |
+
video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4
|
dataset_info/Galbot_G1_load_floor_trash_4.yaml
ADDED
|
@@ -0,0 +1,534 @@
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
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|
|
|
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|
|
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|
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|
|
|
|
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|
|
|
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|
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|
|
|
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|
|
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|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
| 1 |
+
task_categories:
|
| 2 |
+
- robotics
|
| 3 |
+
language:
|
| 4 |
+
- en
|
| 5 |
+
tags:
|
| 6 |
+
- RoboCOIN
|
| 7 |
+
- LeRobot
|
| 8 |
+
license: apache-2.0
|
| 9 |
+
configs:
|
| 10 |
+
- config_name: default
|
| 11 |
+
data_files: data/chunk-{id}/episode_{id}.parquet
|
| 12 |
+
extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
|
| 13 |
+
in your research/publications—see the "Citation" section for details. You agree
|
| 14 |
+
to not use the dataset to conduct experiments that cause harm to human subjects.
|
| 15 |
+
extra_gated_fields:
|
| 16 |
+
Company/Organization:
|
| 17 |
+
type: text
|
| 18 |
+
description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
|
| 19 |
+
Country:
|
| 20 |
+
type: country
|
| 21 |
+
description: e.g., "Germany", "China", "United States"
|
| 22 |
+
codebase_version: v2.1
|
| 23 |
+
dataset_name: Galbot_G1_load_floor_trash_4
|
| 24 |
+
dataset_uuid: ee48de83-304e-4240-b9f1-7cb45f91e788
|
| 25 |
+
scene_type:
|
| 26 |
+
level1: Household
|
| 27 |
+
level2: Living Room
|
| 28 |
+
level3: null
|
| 29 |
+
level4: null
|
| 30 |
+
level5: null
|
| 31 |
+
env_type: real_world
|
| 32 |
+
objects:
|
| 33 |
+
- id: trash_can
|
| 34 |
+
name: trash can
|
| 35 |
+
color: black
|
| 36 |
+
anchor_policy: static
|
| 37 |
+
- id: '1'
|
| 38 |
+
name: tissue paper
|
| 39 |
+
color: white
|
| 40 |
+
anchor_policy: static
|
| 41 |
+
- id: '2'
|
| 42 |
+
name: tissue paper
|
| 43 |
+
color: white
|
| 44 |
+
anchor_policy: static
|
| 45 |
+
- id: medical_mask
|
| 46 |
+
name: medical mask
|
| 47 |
+
color: blue
|
| 48 |
+
anchor_policy: static
|
| 49 |
+
- id: disposable_takeout_box
|
| 50 |
+
name: disposable takeout box
|
| 51 |
+
color: brown
|
| 52 |
+
anchor_policy: static
|
| 53 |
+
- id: water_bottle
|
| 54 |
+
name: water bottle
|
| 55 |
+
color: transparent
|
| 56 |
+
anchor_policy: static
|
| 57 |
+
- id: canned_beverages
|
| 58 |
+
name: canned beverages
|
| 59 |
+
color: red
|
| 60 |
+
anchor_policy: static
|
| 61 |
+
- id: bottled_beverages
|
| 62 |
+
name: bottled beverages
|
| 63 |
+
color: brown
|
| 64 |
+
anchor_policy: static
|
| 65 |
+
- id: floor
|
| 66 |
+
name: floor
|
| 67 |
+
color: brown
|
| 68 |
+
anchor_policy: static
|
| 69 |
+
task_operation_type: mobile_dual_arm
|
| 70 |
+
task_instruction: Pick up the trash bin and place the garbage on the floor into it.
|
| 71 |
+
sub_tasks:
|
| 72 |
+
- Pick up the trash bin and place the garbage on the floor into it.
|
| 73 |
+
atomic_actions:
|
| 74 |
+
- move
|
| 75 |
+
- grasp
|
| 76 |
+
- place
|
| 77 |
+
robot_name: Galbot_G1
|
| 78 |
+
end_effector_type: two_finger_end_effector
|
| 79 |
+
tele_type: master_arm
|
| 80 |
+
sensor_list:
|
| 81 |
+
- cam_right_head_rgb
|
| 82 |
+
- cam_left_head_rgb
|
| 83 |
+
- cam_right_wrist_rgb
|
| 84 |
+
- cam_left_wrist_rgb
|
| 85 |
+
came_info:
|
| 86 |
+
cam_right_head_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264,
|
| 87 |
+
pix_fmt=yuv420p
|
| 88 |
+
cam_left_head_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264,
|
| 89 |
+
pix_fmt=yuv420p
|
| 90 |
+
cam_right_wrist_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264,
|
| 91 |
+
pix_fmt=yuv420p
|
| 92 |
+
cam_left_wrist_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264,
|
| 93 |
+
pix_fmt=yuv420p
|
| 94 |
+
depth_enabled: false
|
| 95 |
+
coordinate_definition: right-hand-frame
|
| 96 |
+
joint_rotation_dim: radian
|
| 97 |
+
end_rotation_dim: radian
|
| 98 |
+
end_translation_dim: meter
|
| 99 |
+
base_translation_dim: meter
|
| 100 |
+
annotations:
|
| 101 |
+
- eef_acc_mag_annotation.jsonl
|
| 102 |
+
- eef_direction_annotation.jsonl
|
| 103 |
+
- eef_velocity_annotation.jsonl
|
| 104 |
+
- gripper_activity_annotation.jsonl
|
| 105 |
+
- gripper_mode_annotation.jsonl
|
| 106 |
+
statistics:
|
| 107 |
+
total_episodes: 50
|
| 108 |
+
total_frames: 189275
|
| 109 |
+
fps: 30
|
| 110 |
+
total_tasks: 1
|
| 111 |
+
total_videos: 200
|
| 112 |
+
total_chunks: 1
|
| 113 |
+
chunks_size: 10000
|
| 114 |
+
state_dim: 38
|
| 115 |
+
action_dim: 38
|
| 116 |
+
camera_views: 4
|
| 117 |
+
dataset_size: 16.17 GB
|
| 118 |
+
frame_num: 189275
|
| 119 |
+
frame_range: 1M
|
| 120 |
+
dataset_size: 16.17 GB
|
| 121 |
+
data_structure: 'Galbot_G1_load_floor_trash_4_qced_hardlink/
|
| 122 |
+
|
| 123 |
+
|-- annotations
|
| 124 |
+
|
| 125 |
+
| |-- eef_acc_mag_annotation.jsonl
|
| 126 |
+
|
| 127 |
+
| |-- eef_direction_annotation.jsonl
|
| 128 |
+
|
| 129 |
+
| |-- eef_velocity_annotation.jsonl
|
| 130 |
+
|
| 131 |
+
| |-- gripper_activity_annotation.jsonl
|
| 132 |
+
|
| 133 |
+
| `-- gripper_mode_annotation.jsonl
|
| 134 |
+
|
| 135 |
+
|-- data
|
| 136 |
+
|
| 137 |
+
| `-- chunk-000
|
| 138 |
+
|
| 139 |
+
| |-- episode_000000.parquet
|
| 140 |
+
|
| 141 |
+
| |-- episode_000001.parquet
|
| 142 |
+
|
| 143 |
+
| |-- episode_000002.parquet
|
| 144 |
+
|
| 145 |
+
| |-- episode_000003.parquet
|
| 146 |
+
|
| 147 |
+
| |-- episode_000004.parquet
|
| 148 |
+
|
| 149 |
+
| |-- episode_000005.parquet
|
| 150 |
+
|
| 151 |
+
| |-- episode_000006.parquet
|
| 152 |
+
|
| 153 |
+
| |-- episode_000007.parquet
|
| 154 |
+
|
| 155 |
+
| |-- episode_000008.parquet
|
| 156 |
+
|
| 157 |
+
| |-- episode_000009.parquet
|
| 158 |
+
|
| 159 |
+
| |-- episode_000010.parquet
|
| 160 |
+
|
| 161 |
+
| `-- episode_000011.parquet
|
| 162 |
+
|
| 163 |
+
| `-- ... (38 more entries)
|
| 164 |
+
|
| 165 |
+
|-- meta
|
| 166 |
+
|
| 167 |
+
| |-- episodes.jsonl
|
| 168 |
+
|
| 169 |
+
| |-- episodes_stats.jsonl
|
| 170 |
+
|
| 171 |
+
| |-- info.json
|
| 172 |
+
|
| 173 |
+
| `-- tasks.jsonl
|
| 174 |
+
|
| 175 |
+
|-- videos
|
| 176 |
+
|
| 177 |
+
| `-- chunk-000
|
| 178 |
+
|
| 179 |
+
| |-- observation.images.cam_left_head_rgb
|
| 180 |
+
|
| 181 |
+
| |-- observation.images.cam_left_wrist_rgb
|
| 182 |
+
|
| 183 |
+
| |-- observation.images.cam_right_head_rgb
|
| 184 |
+
|
| 185 |
+
| `-- observation.images.cam_right_wrist_rgb
|
| 186 |
+
|
| 187 |
+
|-- info.yaml
|
| 188 |
+
|
| 189 |
+
`-- README.md'
|
| 190 |
+
splits:
|
| 191 |
+
train: 0:49
|
| 192 |
+
features:
|
| 193 |
+
action:
|
| 194 |
+
dtype: float32
|
| 195 |
+
names:
|
| 196 |
+
- right_arm_joint_1_rad
|
| 197 |
+
- right_arm_joint_2_rad
|
| 198 |
+
- right_arm_joint_3_rad
|
| 199 |
+
- right_arm_joint_4_rad
|
| 200 |
+
- right_arm_joint_5_rad
|
| 201 |
+
- right_arm_joint_6_rad
|
| 202 |
+
- right_arm_joint_7_rad
|
| 203 |
+
- right_gripper_open
|
| 204 |
+
- left_arm_joint_1_rad
|
| 205 |
+
- left_arm_joint_2_rad
|
| 206 |
+
- left_arm_joint_3_rad
|
| 207 |
+
- left_arm_joint_4_rad
|
| 208 |
+
- left_arm_joint_5_rad
|
| 209 |
+
- left_arm_joint_6_rad
|
| 210 |
+
- left_arm_joint_7_rad
|
| 211 |
+
- left_gripper_open
|
| 212 |
+
- torso_joint_1_rad
|
| 213 |
+
- torso_joint_2_rad
|
| 214 |
+
- torso_joint_3_rad
|
| 215 |
+
- torso_joint_4_rad
|
| 216 |
+
- torso_joint_5_rad
|
| 217 |
+
- head_joint_1_rad
|
| 218 |
+
- head_joint_2_rad
|
| 219 |
+
- chassis_pos_1
|
| 220 |
+
- chassis_pos_2
|
| 221 |
+
- chassis_pos_3
|
| 222 |
+
- chassis_pos_4
|
| 223 |
+
- chassis_vel_1
|
| 224 |
+
- chassis_vel_2
|
| 225 |
+
- chassis_vel_3
|
| 226 |
+
- chassis_vel_4
|
| 227 |
+
- base_pos_x_m
|
| 228 |
+
- base_pos_y_m
|
| 229 |
+
- base_orient_quat_z
|
| 230 |
+
- base_orient_quat_w
|
| 231 |
+
- base_vel_x_m_s
|
| 232 |
+
- base_vel_y_m_s
|
| 233 |
+
- base_vel_angular_z_rad_s
|
| 234 |
+
shape:
|
| 235 |
+
- 38
|
| 236 |
+
observation.state:
|
| 237 |
+
dtype: float32
|
| 238 |
+
names:
|
| 239 |
+
- right_arm_joint_1_rad
|
| 240 |
+
- right_arm_joint_2_rad
|
| 241 |
+
- right_arm_joint_3_rad
|
| 242 |
+
- right_arm_joint_4_rad
|
| 243 |
+
- right_arm_joint_5_rad
|
| 244 |
+
- right_arm_joint_6_rad
|
| 245 |
+
- right_arm_joint_7_rad
|
| 246 |
+
- right_gripper_open
|
| 247 |
+
- left_arm_joint_1_rad
|
| 248 |
+
- left_arm_joint_2_rad
|
| 249 |
+
- left_arm_joint_3_rad
|
| 250 |
+
- left_arm_joint_4_rad
|
| 251 |
+
- left_arm_joint_5_rad
|
| 252 |
+
- left_arm_joint_6_rad
|
| 253 |
+
- left_arm_joint_7_rad
|
| 254 |
+
- left_gripper_open
|
| 255 |
+
- torso_joint_1_rad
|
| 256 |
+
- torso_joint_2_rad
|
| 257 |
+
- torso_joint_3_rad
|
| 258 |
+
- torso_joint_4_rad
|
| 259 |
+
- torso_joint_5_rad
|
| 260 |
+
- head_joint_1_rad
|
| 261 |
+
- head_joint_2_rad
|
| 262 |
+
- chassis_pos_1
|
| 263 |
+
- chassis_pos_2
|
| 264 |
+
- chassis_pos_3
|
| 265 |
+
- chassis_pos_4
|
| 266 |
+
- chassis_vel_1
|
| 267 |
+
- chassis_vel_2
|
| 268 |
+
- chassis_vel_3
|
| 269 |
+
- chassis_vel_4
|
| 270 |
+
- base_pos_x_m
|
| 271 |
+
- base_pos_y_m
|
| 272 |
+
- base_orient_quat_z
|
| 273 |
+
- base_orient_quat_w
|
| 274 |
+
- base_vel_x_m_s
|
| 275 |
+
- base_vel_y_m_s
|
| 276 |
+
- base_vel_angular_z_rad_s
|
| 277 |
+
shape:
|
| 278 |
+
- 38
|
| 279 |
+
observation.images.cam_right_head_rgb:
|
| 280 |
+
dtype: video
|
| 281 |
+
shape:
|
| 282 |
+
- 720
|
| 283 |
+
- 960
|
| 284 |
+
- 3
|
| 285 |
+
names:
|
| 286 |
+
- height
|
| 287 |
+
- width
|
| 288 |
+
- channels
|
| 289 |
+
info:
|
| 290 |
+
video.fps: 30
|
| 291 |
+
video.height: 720
|
| 292 |
+
video.width: 960
|
| 293 |
+
video.channels: 3
|
| 294 |
+
video.codec: libx264
|
| 295 |
+
video.pix_fmt: yuv420p
|
| 296 |
+
video.is_depth_map: false
|
| 297 |
+
has_audio: false
|
| 298 |
+
observation.images.cam_left_head_rgb:
|
| 299 |
+
dtype: video
|
| 300 |
+
shape:
|
| 301 |
+
- 720
|
| 302 |
+
- 960
|
| 303 |
+
- 3
|
| 304 |
+
names:
|
| 305 |
+
- height
|
| 306 |
+
- width
|
| 307 |
+
- channels
|
| 308 |
+
info:
|
| 309 |
+
video.fps: 30
|
| 310 |
+
video.height: 720
|
| 311 |
+
video.width: 960
|
| 312 |
+
video.channels: 3
|
| 313 |
+
video.codec: libx264
|
| 314 |
+
video.pix_fmt: yuv420p
|
| 315 |
+
video.is_depth_map: false
|
| 316 |
+
has_audio: false
|
| 317 |
+
observation.images.cam_right_wrist_rgb:
|
| 318 |
+
dtype: video
|
| 319 |
+
shape:
|
| 320 |
+
- 720
|
| 321 |
+
- 960
|
| 322 |
+
- 3
|
| 323 |
+
names:
|
| 324 |
+
- height
|
| 325 |
+
- width
|
| 326 |
+
- channels
|
| 327 |
+
info:
|
| 328 |
+
video.fps: 30
|
| 329 |
+
video.height: 720
|
| 330 |
+
video.width: 960
|
| 331 |
+
video.channels: 3
|
| 332 |
+
video.codec: libx264
|
| 333 |
+
video.pix_fmt: yuv420p
|
| 334 |
+
video.is_depth_map: false
|
| 335 |
+
has_audio: false
|
| 336 |
+
observation.images.cam_left_wrist_rgb:
|
| 337 |
+
dtype: video
|
| 338 |
+
shape:
|
| 339 |
+
- 720
|
| 340 |
+
- 960
|
| 341 |
+
- 3
|
| 342 |
+
names:
|
| 343 |
+
- height
|
| 344 |
+
- width
|
| 345 |
+
- channels
|
| 346 |
+
info:
|
| 347 |
+
video.fps: 30
|
| 348 |
+
video.height: 720
|
| 349 |
+
video.width: 960
|
| 350 |
+
video.channels: 3
|
| 351 |
+
video.codec: libx264
|
| 352 |
+
video.pix_fmt: yuv420p
|
| 353 |
+
video.is_depth_map: false
|
| 354 |
+
has_audio: false
|
| 355 |
+
timestamp:
|
| 356 |
+
dtype: float32
|
| 357 |
+
shape:
|
| 358 |
+
- 1
|
| 359 |
+
names: null
|
| 360 |
+
frame_index:
|
| 361 |
+
dtype: int64
|
| 362 |
+
shape:
|
| 363 |
+
- 1
|
| 364 |
+
names: null
|
| 365 |
+
episode_index:
|
| 366 |
+
dtype: int64
|
| 367 |
+
shape:
|
| 368 |
+
- 1
|
| 369 |
+
names: null
|
| 370 |
+
index:
|
| 371 |
+
dtype: int64
|
| 372 |
+
shape:
|
| 373 |
+
- 1
|
| 374 |
+
names: null
|
| 375 |
+
task_index:
|
| 376 |
+
dtype: int64
|
| 377 |
+
shape:
|
| 378 |
+
- 1
|
| 379 |
+
names: null
|
| 380 |
+
gripper_open_scale_state:
|
| 381 |
+
names:
|
| 382 |
+
- left_gripper_open_scale
|
| 383 |
+
- right_gripper_open_scale
|
| 384 |
+
dtype: float64
|
| 385 |
+
shape:
|
| 386 |
+
- 2
|
| 387 |
+
gripper_open_scale_action:
|
| 388 |
+
names:
|
| 389 |
+
- left_gripper_open_scale
|
| 390 |
+
- right_gripper_open_scale
|
| 391 |
+
dtype: float64
|
| 392 |
+
shape:
|
| 393 |
+
- 2
|
| 394 |
+
eef_sim_pose_state:
|
| 395 |
+
names:
|
| 396 |
+
- left_eef_pos_x
|
| 397 |
+
- left_eef_pos_y
|
| 398 |
+
- left_eef_pos_z
|
| 399 |
+
- left_eef_rot_x
|
| 400 |
+
- left_eef_rot_y
|
| 401 |
+
- left_eef_rot_z
|
| 402 |
+
- right_eef_pos_x
|
| 403 |
+
- right_eef_pos_y
|
| 404 |
+
- right_eef_pos_z
|
| 405 |
+
- right_eef_rot_x
|
| 406 |
+
- right_eef_rot_y
|
| 407 |
+
- right_eef_rot_z
|
| 408 |
+
dtype: float32
|
| 409 |
+
shape:
|
| 410 |
+
- 12
|
| 411 |
+
eef_sim_pose_action:
|
| 412 |
+
names:
|
| 413 |
+
- left_eef_pos_x
|
| 414 |
+
- left_eef_pos_y
|
| 415 |
+
- left_eef_pos_z
|
| 416 |
+
- left_eef_rot_x
|
| 417 |
+
- left_eef_rot_y
|
| 418 |
+
- left_eef_rot_z
|
| 419 |
+
- right_eef_pos_x
|
| 420 |
+
- right_eef_pos_y
|
| 421 |
+
- right_eef_pos_z
|
| 422 |
+
- right_eef_rot_x
|
| 423 |
+
- right_eef_rot_y
|
| 424 |
+
- right_eef_rot_z
|
| 425 |
+
dtype: float32
|
| 426 |
+
shape:
|
| 427 |
+
- 12
|
| 428 |
+
eef_direction_state:
|
| 429 |
+
names:
|
| 430 |
+
- left_eef_direction
|
| 431 |
+
- right_eef_direction
|
| 432 |
+
dtype: int32
|
| 433 |
+
shape:
|
| 434 |
+
- 2
|
| 435 |
+
eef_direction_action:
|
| 436 |
+
names:
|
| 437 |
+
- left_eef_direction
|
| 438 |
+
- right_eef_direction
|
| 439 |
+
dtype: int32
|
| 440 |
+
shape:
|
| 441 |
+
- 2
|
| 442 |
+
eef_velocity_state:
|
| 443 |
+
names:
|
| 444 |
+
- left_eef_velocity
|
| 445 |
+
- right_eef_velocity
|
| 446 |
+
dtype: int32
|
| 447 |
+
shape:
|
| 448 |
+
- 2
|
| 449 |
+
eef_velocity_action:
|
| 450 |
+
names:
|
| 451 |
+
- left_eef_velocity
|
| 452 |
+
- right_eef_velocity
|
| 453 |
+
dtype: int32
|
| 454 |
+
shape:
|
| 455 |
+
- 2
|
| 456 |
+
eef_acc_mag_state:
|
| 457 |
+
names:
|
| 458 |
+
- left_eef_acc_mag
|
| 459 |
+
- right_eef_acc_mag
|
| 460 |
+
dtype: int32
|
| 461 |
+
shape:
|
| 462 |
+
- 2
|
| 463 |
+
eef_acc_mag_action:
|
| 464 |
+
names:
|
| 465 |
+
- left_eef_acc_mag
|
| 466 |
+
- right_eef_acc_mag
|
| 467 |
+
dtype: int32
|
| 468 |
+
shape:
|
| 469 |
+
- 2
|
| 470 |
+
gripper_mode_state:
|
| 471 |
+
names:
|
| 472 |
+
- left_gripper_mode
|
| 473 |
+
- right_gripper_mode
|
| 474 |
+
dtype: int32
|
| 475 |
+
shape:
|
| 476 |
+
- 2
|
| 477 |
+
gripper_mode_action:
|
| 478 |
+
names:
|
| 479 |
+
- left_gripper_mode
|
| 480 |
+
- right_gripper_mode
|
| 481 |
+
dtype: int32
|
| 482 |
+
shape:
|
| 483 |
+
- 2
|
| 484 |
+
gripper_activity_state:
|
| 485 |
+
names:
|
| 486 |
+
- left_gripper_activity
|
| 487 |
+
- right_gripper_activity
|
| 488 |
+
dtype: int32
|
| 489 |
+
shape:
|
| 490 |
+
- 2
|
| 491 |
+
gripper_activity_action:
|
| 492 |
+
names:
|
| 493 |
+
- left_gripper_activity
|
| 494 |
+
- right_gripper_activity
|
| 495 |
+
dtype: int32
|
| 496 |
+
shape:
|
| 497 |
+
- 2
|
| 498 |
+
authors:
|
| 499 |
+
contributed_by:
|
| 500 |
+
- name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
|
| 501 |
+
dataset_description: This dataset uses an extended format based on LeRobot and is
|
| 502 |
+
fully compatible with LeRobot.
|
| 503 |
+
homepage: https://flagopen.github.io/RoboCOIN/
|
| 504 |
+
paper: https://arxiv.org/abs/2511.17441
|
| 505 |
+
repository: https://github.com/FlagOpen/RoboCOIN
|
| 506 |
+
contact_info: For questions, issues, or feedback regarding this dataset, please contact
|
| 507 |
+
us.
|
| 508 |
+
support_info: For technical support, please open an issue on our GitHub repository.
|
| 509 |
+
license_details: apache-2.0
|
| 510 |
+
citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\
|
| 511 |
+
\ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\
|
| 512 |
+
\ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
|
| 513 |
+
\ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
|
| 514 |
+
\ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
|
| 515 |
+
\ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
|
| 516 |
+
\ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
|
| 517 |
+
\ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
|
| 518 |
+
\ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
|
| 519 |
+
\ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
|
| 520 |
+
\ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
|
| 521 |
+
\ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
|
| 522 |
+
\ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
|
| 523 |
+
\ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
|
| 524 |
+
\ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\
|
| 525 |
+
\ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n"
|
| 526 |
+
additional_citations: 'If you use this dataset, please also consider citing:
|
| 527 |
+
|
| 528 |
+
LeRobot Framework: https://github.com/huggingface/lerobot
|
| 529 |
+
|
| 530 |
+
'
|
| 531 |
+
version_info: Initial Release
|
| 532 |
+
data_path: data/chunk-{id}/episode_{id}.parquet
|
| 533 |
+
video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
|
| 534 |
+
video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4
|
dataset_info/Galbot_G1_load_floor_trash_6.yaml
ADDED
|
@@ -0,0 +1,538 @@
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
| 1 |
+
task_categories:
|
| 2 |
+
- robotics
|
| 3 |
+
language:
|
| 4 |
+
- en
|
| 5 |
+
tags:
|
| 6 |
+
- RoboCOIN
|
| 7 |
+
- LeRobot
|
| 8 |
+
license: apache-2.0
|
| 9 |
+
configs:
|
| 10 |
+
- config_name: default
|
| 11 |
+
data_files: data/chunk-{id}/episode_{id}.parquet
|
| 12 |
+
extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
|
| 13 |
+
in your research/publications—see the "Citation" section for details. You agree
|
| 14 |
+
to not use the dataset to conduct experiments that cause harm to human subjects.
|
| 15 |
+
extra_gated_fields:
|
| 16 |
+
Company/Organization:
|
| 17 |
+
type: text
|
| 18 |
+
description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
|
| 19 |
+
Country:
|
| 20 |
+
type: country
|
| 21 |
+
description: e.g., "Germany", "China", "United States"
|
| 22 |
+
codebase_version: v2.1
|
| 23 |
+
dataset_name: Galbot_G1_load_floor_trash_6
|
| 24 |
+
dataset_uuid: 1436a50c-9878-4386-9086-95c3a587c0d6
|
| 25 |
+
scene_type:
|
| 26 |
+
level1: Household
|
| 27 |
+
level2: Bedroom
|
| 28 |
+
level3: null
|
| 29 |
+
level4: null
|
| 30 |
+
level5: null
|
| 31 |
+
env_type: real_world
|
| 32 |
+
objects:
|
| 33 |
+
- id: slippers
|
| 34 |
+
name: Slippers
|
| 35 |
+
color: white
|
| 36 |
+
anchor_policy: static
|
| 37 |
+
- id: water_bottle
|
| 38 |
+
name: water bottle
|
| 39 |
+
color: transparent
|
| 40 |
+
anchor_policy: static
|
| 41 |
+
- id: plastic_bag
|
| 42 |
+
name: plastic bag
|
| 43 |
+
color: none
|
| 44 |
+
anchor_policy: static
|
| 45 |
+
- id: straw
|
| 46 |
+
name: straw
|
| 47 |
+
color: brown
|
| 48 |
+
anchor_policy: static
|
| 49 |
+
- id: paper_cup
|
| 50 |
+
name: paper cup
|
| 51 |
+
color: none
|
| 52 |
+
anchor_policy: static
|
| 53 |
+
- id: medical_mask
|
| 54 |
+
name: medical mask
|
| 55 |
+
color: blue
|
| 56 |
+
anchor_policy: static
|
| 57 |
+
- id: disposable_takeout_box
|
| 58 |
+
name: disposable takeout box
|
| 59 |
+
color: red
|
| 60 |
+
anchor_policy: static
|
| 61 |
+
- id: canned_beverages
|
| 62 |
+
name: canned beverages
|
| 63 |
+
color: red
|
| 64 |
+
anchor_policy: static
|
| 65 |
+
- id: floor_mat
|
| 66 |
+
name: floor mat
|
| 67 |
+
color: brown
|
| 68 |
+
anchor_policy: static
|
| 69 |
+
- id: trash_can
|
| 70 |
+
name: trash can
|
| 71 |
+
color: black
|
| 72 |
+
anchor_policy: static
|
| 73 |
+
task_operation_type: mobile_dual_arm
|
| 74 |
+
task_instruction: Pick up the trash bin and place the garbage on the floor into it.
|
| 75 |
+
sub_tasks:
|
| 76 |
+
- Pick up the trash bin and place the garbage on the floor into it.
|
| 77 |
+
atomic_actions:
|
| 78 |
+
- move
|
| 79 |
+
- grasp
|
| 80 |
+
- place
|
| 81 |
+
robot_name: Galbot_G1
|
| 82 |
+
end_effector_type: two_finger_end_effector
|
| 83 |
+
tele_type: master_arm
|
| 84 |
+
sensor_list:
|
| 85 |
+
- cam_right_head_rgb
|
| 86 |
+
- cam_left_head_rgb
|
| 87 |
+
- cam_right_wrist_rgb
|
| 88 |
+
- cam_left_wrist_rgb
|
| 89 |
+
came_info:
|
| 90 |
+
cam_right_head_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264,
|
| 91 |
+
pix_fmt=yuv420p
|
| 92 |
+
cam_left_head_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264,
|
| 93 |
+
pix_fmt=yuv420p
|
| 94 |
+
cam_right_wrist_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264,
|
| 95 |
+
pix_fmt=yuv420p
|
| 96 |
+
cam_left_wrist_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264,
|
| 97 |
+
pix_fmt=yuv420p
|
| 98 |
+
depth_enabled: false
|
| 99 |
+
coordinate_definition: right-hand-frame
|
| 100 |
+
joint_rotation_dim: radian
|
| 101 |
+
end_rotation_dim: radian
|
| 102 |
+
end_translation_dim: meter
|
| 103 |
+
base_translation_dim: meter
|
| 104 |
+
annotations:
|
| 105 |
+
- eef_acc_mag_annotation.jsonl
|
| 106 |
+
- eef_direction_annotation.jsonl
|
| 107 |
+
- eef_velocity_annotation.jsonl
|
| 108 |
+
- gripper_activity_annotation.jsonl
|
| 109 |
+
- gripper_mode_annotation.jsonl
|
| 110 |
+
statistics:
|
| 111 |
+
total_episodes: 147
|
| 112 |
+
total_frames: 699847
|
| 113 |
+
fps: 30
|
| 114 |
+
total_tasks: 1
|
| 115 |
+
total_videos: 588
|
| 116 |
+
total_chunks: 1
|
| 117 |
+
chunks_size: 10000
|
| 118 |
+
state_dim: 38
|
| 119 |
+
action_dim: 38
|
| 120 |
+
camera_views: 4
|
| 121 |
+
dataset_size: 63.03 GB
|
| 122 |
+
frame_num: 699847
|
| 123 |
+
frame_range: 1M
|
| 124 |
+
dataset_size: 63.03 GB
|
| 125 |
+
data_structure: 'Galbot_G1_load_floor_trash_6_qced_hardlink/
|
| 126 |
+
|
| 127 |
+
|-- annotations
|
| 128 |
+
|
| 129 |
+
| |-- eef_acc_mag_annotation.jsonl
|
| 130 |
+
|
| 131 |
+
| |-- eef_direction_annotation.jsonl
|
| 132 |
+
|
| 133 |
+
| |-- eef_velocity_annotation.jsonl
|
| 134 |
+
|
| 135 |
+
| |-- gripper_activity_annotation.jsonl
|
| 136 |
+
|
| 137 |
+
| `-- gripper_mode_annotation.jsonl
|
| 138 |
+
|
| 139 |
+
|-- data
|
| 140 |
+
|
| 141 |
+
| `-- chunk-000
|
| 142 |
+
|
| 143 |
+
| |-- episode_000000.parquet
|
| 144 |
+
|
| 145 |
+
| |-- episode_000001.parquet
|
| 146 |
+
|
| 147 |
+
| |-- episode_000002.parquet
|
| 148 |
+
|
| 149 |
+
| |-- episode_000003.parquet
|
| 150 |
+
|
| 151 |
+
| |-- episode_000004.parquet
|
| 152 |
+
|
| 153 |
+
| |-- episode_000005.parquet
|
| 154 |
+
|
| 155 |
+
| |-- episode_000006.parquet
|
| 156 |
+
|
| 157 |
+
| |-- episode_000007.parquet
|
| 158 |
+
|
| 159 |
+
| |-- episode_000008.parquet
|
| 160 |
+
|
| 161 |
+
| |-- episode_000009.parquet
|
| 162 |
+
|
| 163 |
+
| |-- episode_000010.parquet
|
| 164 |
+
|
| 165 |
+
| `-- episode_000011.parquet
|
| 166 |
+
|
| 167 |
+
| `-- ... (135 more entries)
|
| 168 |
+
|
| 169 |
+
|-- meta
|
| 170 |
+
|
| 171 |
+
| |-- episodes.jsonl
|
| 172 |
+
|
| 173 |
+
| |-- episodes_stats.jsonl
|
| 174 |
+
|
| 175 |
+
| |-- info.json
|
| 176 |
+
|
| 177 |
+
| `-- tasks.jsonl
|
| 178 |
+
|
| 179 |
+
|-- videos
|
| 180 |
+
|
| 181 |
+
| `-- chunk-000
|
| 182 |
+
|
| 183 |
+
| |-- observation.images.cam_left_head_rgb
|
| 184 |
+
|
| 185 |
+
| |-- observation.images.cam_left_wrist_rgb
|
| 186 |
+
|
| 187 |
+
| |-- observation.images.cam_right_head_rgb
|
| 188 |
+
|
| 189 |
+
| `-- observation.images.cam_right_wrist_rgb
|
| 190 |
+
|
| 191 |
+
|-- info.yaml
|
| 192 |
+
|
| 193 |
+
`-- README.md'
|
| 194 |
+
splits:
|
| 195 |
+
train: 0:146
|
| 196 |
+
features:
|
| 197 |
+
action:
|
| 198 |
+
dtype: float32
|
| 199 |
+
names:
|
| 200 |
+
- right_arm_joint_1_rad
|
| 201 |
+
- right_arm_joint_2_rad
|
| 202 |
+
- right_arm_joint_3_rad
|
| 203 |
+
- right_arm_joint_4_rad
|
| 204 |
+
- right_arm_joint_5_rad
|
| 205 |
+
- right_arm_joint_6_rad
|
| 206 |
+
- right_arm_joint_7_rad
|
| 207 |
+
- right_gripper_open
|
| 208 |
+
- left_arm_joint_1_rad
|
| 209 |
+
- left_arm_joint_2_rad
|
| 210 |
+
- left_arm_joint_3_rad
|
| 211 |
+
- left_arm_joint_4_rad
|
| 212 |
+
- left_arm_joint_5_rad
|
| 213 |
+
- left_arm_joint_6_rad
|
| 214 |
+
- left_arm_joint_7_rad
|
| 215 |
+
- left_gripper_open
|
| 216 |
+
- torso_joint_1_rad
|
| 217 |
+
- torso_joint_2_rad
|
| 218 |
+
- torso_joint_3_rad
|
| 219 |
+
- torso_joint_4_rad
|
| 220 |
+
- torso_joint_5_rad
|
| 221 |
+
- head_joint_1_rad
|
| 222 |
+
- head_joint_2_rad
|
| 223 |
+
- chassis_pos_1
|
| 224 |
+
- chassis_pos_2
|
| 225 |
+
- chassis_pos_3
|
| 226 |
+
- chassis_pos_4
|
| 227 |
+
- chassis_vel_1
|
| 228 |
+
- chassis_vel_2
|
| 229 |
+
- chassis_vel_3
|
| 230 |
+
- chassis_vel_4
|
| 231 |
+
- base_pos_x_m
|
| 232 |
+
- base_pos_y_m
|
| 233 |
+
- base_orient_quat_z
|
| 234 |
+
- base_orient_quat_w
|
| 235 |
+
- base_vel_x_m_s
|
| 236 |
+
- base_vel_y_m_s
|
| 237 |
+
- base_vel_angular_z_rad_s
|
| 238 |
+
shape:
|
| 239 |
+
- 38
|
| 240 |
+
observation.state:
|
| 241 |
+
dtype: float32
|
| 242 |
+
names:
|
| 243 |
+
- right_arm_joint_1_rad
|
| 244 |
+
- right_arm_joint_2_rad
|
| 245 |
+
- right_arm_joint_3_rad
|
| 246 |
+
- right_arm_joint_4_rad
|
| 247 |
+
- right_arm_joint_5_rad
|
| 248 |
+
- right_arm_joint_6_rad
|
| 249 |
+
- right_arm_joint_7_rad
|
| 250 |
+
- right_gripper_open
|
| 251 |
+
- left_arm_joint_1_rad
|
| 252 |
+
- left_arm_joint_2_rad
|
| 253 |
+
- left_arm_joint_3_rad
|
| 254 |
+
- left_arm_joint_4_rad
|
| 255 |
+
- left_arm_joint_5_rad
|
| 256 |
+
- left_arm_joint_6_rad
|
| 257 |
+
- left_arm_joint_7_rad
|
| 258 |
+
- left_gripper_open
|
| 259 |
+
- torso_joint_1_rad
|
| 260 |
+
- torso_joint_2_rad
|
| 261 |
+
- torso_joint_3_rad
|
| 262 |
+
- torso_joint_4_rad
|
| 263 |
+
- torso_joint_5_rad
|
| 264 |
+
- head_joint_1_rad
|
| 265 |
+
- head_joint_2_rad
|
| 266 |
+
- chassis_pos_1
|
| 267 |
+
- chassis_pos_2
|
| 268 |
+
- chassis_pos_3
|
| 269 |
+
- chassis_pos_4
|
| 270 |
+
- chassis_vel_1
|
| 271 |
+
- chassis_vel_2
|
| 272 |
+
- chassis_vel_3
|
| 273 |
+
- chassis_vel_4
|
| 274 |
+
- base_pos_x_m
|
| 275 |
+
- base_pos_y_m
|
| 276 |
+
- base_orient_quat_z
|
| 277 |
+
- base_orient_quat_w
|
| 278 |
+
- base_vel_x_m_s
|
| 279 |
+
- base_vel_y_m_s
|
| 280 |
+
- base_vel_angular_z_rad_s
|
| 281 |
+
shape:
|
| 282 |
+
- 38
|
| 283 |
+
observation.images.cam_right_head_rgb:
|
| 284 |
+
dtype: video
|
| 285 |
+
shape:
|
| 286 |
+
- 720
|
| 287 |
+
- 960
|
| 288 |
+
- 3
|
| 289 |
+
names:
|
| 290 |
+
- height
|
| 291 |
+
- width
|
| 292 |
+
- channels
|
| 293 |
+
info:
|
| 294 |
+
video.fps: 30
|
| 295 |
+
video.height: 720
|
| 296 |
+
video.width: 960
|
| 297 |
+
video.channels: 3
|
| 298 |
+
video.codec: libx264
|
| 299 |
+
video.pix_fmt: yuv420p
|
| 300 |
+
video.is_depth_map: false
|
| 301 |
+
has_audio: false
|
| 302 |
+
observation.images.cam_left_head_rgb:
|
| 303 |
+
dtype: video
|
| 304 |
+
shape:
|
| 305 |
+
- 720
|
| 306 |
+
- 960
|
| 307 |
+
- 3
|
| 308 |
+
names:
|
| 309 |
+
- height
|
| 310 |
+
- width
|
| 311 |
+
- channels
|
| 312 |
+
info:
|
| 313 |
+
video.fps: 30
|
| 314 |
+
video.height: 720
|
| 315 |
+
video.width: 960
|
| 316 |
+
video.channels: 3
|
| 317 |
+
video.codec: libx264
|
| 318 |
+
video.pix_fmt: yuv420p
|
| 319 |
+
video.is_depth_map: false
|
| 320 |
+
has_audio: false
|
| 321 |
+
observation.images.cam_right_wrist_rgb:
|
| 322 |
+
dtype: video
|
| 323 |
+
shape:
|
| 324 |
+
- 720
|
| 325 |
+
- 960
|
| 326 |
+
- 3
|
| 327 |
+
names:
|
| 328 |
+
- height
|
| 329 |
+
- width
|
| 330 |
+
- channels
|
| 331 |
+
info:
|
| 332 |
+
video.fps: 30
|
| 333 |
+
video.height: 720
|
| 334 |
+
video.width: 960
|
| 335 |
+
video.channels: 3
|
| 336 |
+
video.codec: libx264
|
| 337 |
+
video.pix_fmt: yuv420p
|
| 338 |
+
video.is_depth_map: false
|
| 339 |
+
has_audio: false
|
| 340 |
+
observation.images.cam_left_wrist_rgb:
|
| 341 |
+
dtype: video
|
| 342 |
+
shape:
|
| 343 |
+
- 720
|
| 344 |
+
- 960
|
| 345 |
+
- 3
|
| 346 |
+
names:
|
| 347 |
+
- height
|
| 348 |
+
- width
|
| 349 |
+
- channels
|
| 350 |
+
info:
|
| 351 |
+
video.fps: 30
|
| 352 |
+
video.height: 720
|
| 353 |
+
video.width: 960
|
| 354 |
+
video.channels: 3
|
| 355 |
+
video.codec: libx264
|
| 356 |
+
video.pix_fmt: yuv420p
|
| 357 |
+
video.is_depth_map: false
|
| 358 |
+
has_audio: false
|
| 359 |
+
timestamp:
|
| 360 |
+
dtype: float32
|
| 361 |
+
shape:
|
| 362 |
+
- 1
|
| 363 |
+
names: null
|
| 364 |
+
frame_index:
|
| 365 |
+
dtype: int64
|
| 366 |
+
shape:
|
| 367 |
+
- 1
|
| 368 |
+
names: null
|
| 369 |
+
episode_index:
|
| 370 |
+
dtype: int64
|
| 371 |
+
shape:
|
| 372 |
+
- 1
|
| 373 |
+
names: null
|
| 374 |
+
index:
|
| 375 |
+
dtype: int64
|
| 376 |
+
shape:
|
| 377 |
+
- 1
|
| 378 |
+
names: null
|
| 379 |
+
task_index:
|
| 380 |
+
dtype: int64
|
| 381 |
+
shape:
|
| 382 |
+
- 1
|
| 383 |
+
names: null
|
| 384 |
+
gripper_open_scale_state:
|
| 385 |
+
names:
|
| 386 |
+
- left_gripper_open_scale
|
| 387 |
+
- right_gripper_open_scale
|
| 388 |
+
dtype: float64
|
| 389 |
+
shape:
|
| 390 |
+
- 2
|
| 391 |
+
gripper_open_scale_action:
|
| 392 |
+
names:
|
| 393 |
+
- left_gripper_open_scale
|
| 394 |
+
- right_gripper_open_scale
|
| 395 |
+
dtype: float64
|
| 396 |
+
shape:
|
| 397 |
+
- 2
|
| 398 |
+
eef_sim_pose_state:
|
| 399 |
+
names:
|
| 400 |
+
- left_eef_pos_x
|
| 401 |
+
- left_eef_pos_y
|
| 402 |
+
- left_eef_pos_z
|
| 403 |
+
- left_eef_rot_x
|
| 404 |
+
- left_eef_rot_y
|
| 405 |
+
- left_eef_rot_z
|
| 406 |
+
- right_eef_pos_x
|
| 407 |
+
- right_eef_pos_y
|
| 408 |
+
- right_eef_pos_z
|
| 409 |
+
- right_eef_rot_x
|
| 410 |
+
- right_eef_rot_y
|
| 411 |
+
- right_eef_rot_z
|
| 412 |
+
dtype: float32
|
| 413 |
+
shape:
|
| 414 |
+
- 12
|
| 415 |
+
eef_sim_pose_action:
|
| 416 |
+
names:
|
| 417 |
+
- left_eef_pos_x
|
| 418 |
+
- left_eef_pos_y
|
| 419 |
+
- left_eef_pos_z
|
| 420 |
+
- left_eef_rot_x
|
| 421 |
+
- left_eef_rot_y
|
| 422 |
+
- left_eef_rot_z
|
| 423 |
+
- right_eef_pos_x
|
| 424 |
+
- right_eef_pos_y
|
| 425 |
+
- right_eef_pos_z
|
| 426 |
+
- right_eef_rot_x
|
| 427 |
+
- right_eef_rot_y
|
| 428 |
+
- right_eef_rot_z
|
| 429 |
+
dtype: float32
|
| 430 |
+
shape:
|
| 431 |
+
- 12
|
| 432 |
+
eef_direction_state:
|
| 433 |
+
names:
|
| 434 |
+
- left_eef_direction
|
| 435 |
+
- right_eef_direction
|
| 436 |
+
dtype: int32
|
| 437 |
+
shape:
|
| 438 |
+
- 2
|
| 439 |
+
eef_direction_action:
|
| 440 |
+
names:
|
| 441 |
+
- left_eef_direction
|
| 442 |
+
- right_eef_direction
|
| 443 |
+
dtype: int32
|
| 444 |
+
shape:
|
| 445 |
+
- 2
|
| 446 |
+
eef_velocity_state:
|
| 447 |
+
names:
|
| 448 |
+
- left_eef_velocity
|
| 449 |
+
- right_eef_velocity
|
| 450 |
+
dtype: int32
|
| 451 |
+
shape:
|
| 452 |
+
- 2
|
| 453 |
+
eef_velocity_action:
|
| 454 |
+
names:
|
| 455 |
+
- left_eef_velocity
|
| 456 |
+
- right_eef_velocity
|
| 457 |
+
dtype: int32
|
| 458 |
+
shape:
|
| 459 |
+
- 2
|
| 460 |
+
eef_acc_mag_state:
|
| 461 |
+
names:
|
| 462 |
+
- left_eef_acc_mag
|
| 463 |
+
- right_eef_acc_mag
|
| 464 |
+
dtype: int32
|
| 465 |
+
shape:
|
| 466 |
+
- 2
|
| 467 |
+
eef_acc_mag_action:
|
| 468 |
+
names:
|
| 469 |
+
- left_eef_acc_mag
|
| 470 |
+
- right_eef_acc_mag
|
| 471 |
+
dtype: int32
|
| 472 |
+
shape:
|
| 473 |
+
- 2
|
| 474 |
+
gripper_mode_state:
|
| 475 |
+
names:
|
| 476 |
+
- left_gripper_mode
|
| 477 |
+
- right_gripper_mode
|
| 478 |
+
dtype: int32
|
| 479 |
+
shape:
|
| 480 |
+
- 2
|
| 481 |
+
gripper_mode_action:
|
| 482 |
+
names:
|
| 483 |
+
- left_gripper_mode
|
| 484 |
+
- right_gripper_mode
|
| 485 |
+
dtype: int32
|
| 486 |
+
shape:
|
| 487 |
+
- 2
|
| 488 |
+
gripper_activity_state:
|
| 489 |
+
names:
|
| 490 |
+
- left_gripper_activity
|
| 491 |
+
- right_gripper_activity
|
| 492 |
+
dtype: int32
|
| 493 |
+
shape:
|
| 494 |
+
- 2
|
| 495 |
+
gripper_activity_action:
|
| 496 |
+
names:
|
| 497 |
+
- left_gripper_activity
|
| 498 |
+
- right_gripper_activity
|
| 499 |
+
dtype: int32
|
| 500 |
+
shape:
|
| 501 |
+
- 2
|
| 502 |
+
authors:
|
| 503 |
+
contributed_by:
|
| 504 |
+
- name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
|
| 505 |
+
dataset_description: This dataset uses an extended format based on LeRobot and is
|
| 506 |
+
fully compatible with LeRobot.
|
| 507 |
+
homepage: https://flagopen.github.io/RoboCOIN/
|
| 508 |
+
paper: https://arxiv.org/abs/2511.17441
|
| 509 |
+
repository: https://github.com/FlagOpen/RoboCOIN
|
| 510 |
+
contact_info: For questions, issues, or feedback regarding this dataset, please contact
|
| 511 |
+
us.
|
| 512 |
+
support_info: For technical support, please open an issue on our GitHub repository.
|
| 513 |
+
license_details: apache-2.0
|
| 514 |
+
citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\
|
| 515 |
+
\ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\
|
| 516 |
+
\ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
|
| 517 |
+
\ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
|
| 518 |
+
\ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
|
| 519 |
+
\ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
|
| 520 |
+
\ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
|
| 521 |
+
\ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
|
| 522 |
+
\ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
|
| 523 |
+
\ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
|
| 524 |
+
\ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
|
| 525 |
+
\ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
|
| 526 |
+
\ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
|
| 527 |
+
\ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
|
| 528 |
+
\ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\
|
| 529 |
+
\ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n"
|
| 530 |
+
additional_citations: 'If you use this dataset, please also consider citing:
|
| 531 |
+
|
| 532 |
+
LeRobot Framework: https://github.com/huggingface/lerobot
|
| 533 |
+
|
| 534 |
+
'
|
| 535 |
+
version_info: Initial Release
|
| 536 |
+
data_path: data/chunk-{id}/episode_{id}.parquet
|
| 537 |
+
video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
|
| 538 |
+
video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4
|
dataset_info/Galbot_G1_load_floor_trash_7.yaml
ADDED
|
@@ -0,0 +1,536 @@
|
|
|
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|
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|
| 1 |
+
task_categories:
|
| 2 |
+
- robotics
|
| 3 |
+
language:
|
| 4 |
+
- en
|
| 5 |
+
tags:
|
| 6 |
+
- RoboCOIN
|
| 7 |
+
- LeRobot
|
| 8 |
+
license: apache-2.0
|
| 9 |
+
configs:
|
| 10 |
+
- config_name: default
|
| 11 |
+
data_files: data/chunk-{id}/episode_{id}.parquet
|
| 12 |
+
extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
|
| 13 |
+
in your research/publications—see the "Citation" section for details. You agree
|
| 14 |
+
to not use the dataset to conduct experiments that cause harm to human subjects.
|
| 15 |
+
extra_gated_fields:
|
| 16 |
+
Company/Organization:
|
| 17 |
+
type: text
|
| 18 |
+
description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
|
| 19 |
+
Country:
|
| 20 |
+
type: country
|
| 21 |
+
description: e.g., "Germany", "China", "United States"
|
| 22 |
+
codebase_version: v2.1
|
| 23 |
+
dataset_name: Galbot_G1_load_floor_trash_7
|
| 24 |
+
dataset_uuid: 984280c3-0e94-4ade-a2b5-8612d75ed88f
|
| 25 |
+
scene_type:
|
| 26 |
+
level1: Household
|
| 27 |
+
level2: Bedroom
|
| 28 |
+
level3: null
|
| 29 |
+
level4: null
|
| 30 |
+
level5: null
|
| 31 |
+
env_type: real_world
|
| 32 |
+
objects:
|
| 33 |
+
- id: floor_mat
|
| 34 |
+
name: floor mat
|
| 35 |
+
color: brown
|
| 36 |
+
anchor_policy: static
|
| 37 |
+
- id: trash_can
|
| 38 |
+
name: trash can
|
| 39 |
+
color: black
|
| 40 |
+
anchor_policy: static
|
| 41 |
+
- id: '1'
|
| 42 |
+
name: disposable takeout box
|
| 43 |
+
color: red
|
| 44 |
+
anchor_policy: static
|
| 45 |
+
- id: '3'
|
| 46 |
+
name: ice cream wrapper
|
| 47 |
+
color: none
|
| 48 |
+
anchor_policy: static
|
| 49 |
+
- id: '2'
|
| 50 |
+
name: disposable takeout box
|
| 51 |
+
color: brown
|
| 52 |
+
anchor_policy: static
|
| 53 |
+
- id: snack_wrapper
|
| 54 |
+
name: snack wrapper
|
| 55 |
+
color: red
|
| 56 |
+
anchor_policy: static
|
| 57 |
+
- id: '5'
|
| 58 |
+
name: ice cream wrapper
|
| 59 |
+
color: none
|
| 60 |
+
anchor_policy: static
|
| 61 |
+
- id: water_bottle
|
| 62 |
+
name: water bottle
|
| 63 |
+
color: transparent
|
| 64 |
+
anchor_policy: static
|
| 65 |
+
- id: '4'
|
| 66 |
+
name: disposable takeout box
|
| 67 |
+
color: red
|
| 68 |
+
anchor_policy: static
|
| 69 |
+
task_operation_type: mobile_dual_arm
|
| 70 |
+
task_instruction: Pick up the trash bin, then pick up the garbage from the floor and
|
| 71 |
+
place it into the trash bin.
|
| 72 |
+
sub_tasks:
|
| 73 |
+
- Pick up the trash bin, then pick up the garbage from the floor and place it into
|
| 74 |
+
the trash bin.
|
| 75 |
+
atomic_actions:
|
| 76 |
+
- move
|
| 77 |
+
- grasp
|
| 78 |
+
- place
|
| 79 |
+
robot_name: Galbot_G1
|
| 80 |
+
end_effector_type: two_finger_end_effector
|
| 81 |
+
tele_type: master_arm
|
| 82 |
+
sensor_list:
|
| 83 |
+
- cam_right_head_rgb
|
| 84 |
+
- cam_left_head_rgb
|
| 85 |
+
- cam_right_wrist_rgb
|
| 86 |
+
- cam_left_wrist_rgb
|
| 87 |
+
came_info:
|
| 88 |
+
cam_right_head_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264,
|
| 89 |
+
pix_fmt=yuv420p
|
| 90 |
+
cam_left_head_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264,
|
| 91 |
+
pix_fmt=yuv420p
|
| 92 |
+
cam_right_wrist_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264,
|
| 93 |
+
pix_fmt=yuv420p
|
| 94 |
+
cam_left_wrist_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264,
|
| 95 |
+
pix_fmt=yuv420p
|
| 96 |
+
depth_enabled: false
|
| 97 |
+
coordinate_definition: right-hand-frame
|
| 98 |
+
joint_rotation_dim: radian
|
| 99 |
+
end_rotation_dim: radian
|
| 100 |
+
end_translation_dim: meter
|
| 101 |
+
base_translation_dim: meter
|
| 102 |
+
annotations:
|
| 103 |
+
- eef_acc_mag_annotation.jsonl
|
| 104 |
+
- eef_direction_annotation.jsonl
|
| 105 |
+
- eef_velocity_annotation.jsonl
|
| 106 |
+
- gripper_activity_annotation.jsonl
|
| 107 |
+
- gripper_mode_annotation.jsonl
|
| 108 |
+
statistics:
|
| 109 |
+
total_episodes: 254
|
| 110 |
+
total_frames: 943067
|
| 111 |
+
fps: 30
|
| 112 |
+
total_tasks: 1
|
| 113 |
+
total_videos: 1016
|
| 114 |
+
total_chunks: 1
|
| 115 |
+
chunks_size: 10000
|
| 116 |
+
state_dim: 38
|
| 117 |
+
action_dim: 38
|
| 118 |
+
camera_views: 4
|
| 119 |
+
dataset_size: 66.94 GB
|
| 120 |
+
frame_num: 943067
|
| 121 |
+
frame_range: 1M
|
| 122 |
+
dataset_size: 66.94 GB
|
| 123 |
+
data_structure: 'Galbot_G1_load_floor_trash_7_qced_hardlink/
|
| 124 |
+
|
| 125 |
+
|-- annotations
|
| 126 |
+
|
| 127 |
+
| |-- eef_acc_mag_annotation.jsonl
|
| 128 |
+
|
| 129 |
+
| |-- eef_direction_annotation.jsonl
|
| 130 |
+
|
| 131 |
+
| |-- eef_velocity_annotation.jsonl
|
| 132 |
+
|
| 133 |
+
| |-- gripper_activity_annotation.jsonl
|
| 134 |
+
|
| 135 |
+
| `-- gripper_mode_annotation.jsonl
|
| 136 |
+
|
| 137 |
+
|-- data
|
| 138 |
+
|
| 139 |
+
| `-- chunk-000
|
| 140 |
+
|
| 141 |
+
| |-- episode_000000.parquet
|
| 142 |
+
|
| 143 |
+
| |-- episode_000001.parquet
|
| 144 |
+
|
| 145 |
+
| |-- episode_000002.parquet
|
| 146 |
+
|
| 147 |
+
| |-- episode_000003.parquet
|
| 148 |
+
|
| 149 |
+
| |-- episode_000004.parquet
|
| 150 |
+
|
| 151 |
+
| |-- episode_000005.parquet
|
| 152 |
+
|
| 153 |
+
| |-- episode_000006.parquet
|
| 154 |
+
|
| 155 |
+
| |-- episode_000007.parquet
|
| 156 |
+
|
| 157 |
+
| |-- episode_000008.parquet
|
| 158 |
+
|
| 159 |
+
| |-- episode_000009.parquet
|
| 160 |
+
|
| 161 |
+
| |-- episode_000010.parquet
|
| 162 |
+
|
| 163 |
+
| `-- episode_000011.parquet
|
| 164 |
+
|
| 165 |
+
| `-- ... (242 more entries)
|
| 166 |
+
|
| 167 |
+
|-- meta
|
| 168 |
+
|
| 169 |
+
| |-- episodes.jsonl
|
| 170 |
+
|
| 171 |
+
| |-- episodes_stats.jsonl
|
| 172 |
+
|
| 173 |
+
| |-- info.json
|
| 174 |
+
|
| 175 |
+
| `-- tasks.jsonl
|
| 176 |
+
|
| 177 |
+
|-- videos
|
| 178 |
+
|
| 179 |
+
| `-- chunk-000
|
| 180 |
+
|
| 181 |
+
| |-- observation.images.cam_left_head_rgb
|
| 182 |
+
|
| 183 |
+
| |-- observation.images.cam_left_wrist_rgb
|
| 184 |
+
|
| 185 |
+
| |-- observation.images.cam_right_head_rgb
|
| 186 |
+
|
| 187 |
+
| `-- observation.images.cam_right_wrist_rgb
|
| 188 |
+
|
| 189 |
+
|-- info.yaml
|
| 190 |
+
|
| 191 |
+
`-- README.md'
|
| 192 |
+
splits:
|
| 193 |
+
train: 0:253
|
| 194 |
+
features:
|
| 195 |
+
action:
|
| 196 |
+
dtype: float32
|
| 197 |
+
names:
|
| 198 |
+
- right_arm_joint_1_rad
|
| 199 |
+
- right_arm_joint_2_rad
|
| 200 |
+
- right_arm_joint_3_rad
|
| 201 |
+
- right_arm_joint_4_rad
|
| 202 |
+
- right_arm_joint_5_rad
|
| 203 |
+
- right_arm_joint_6_rad
|
| 204 |
+
- right_arm_joint_7_rad
|
| 205 |
+
- right_gripper_open
|
| 206 |
+
- left_arm_joint_1_rad
|
| 207 |
+
- left_arm_joint_2_rad
|
| 208 |
+
- left_arm_joint_3_rad
|
| 209 |
+
- left_arm_joint_4_rad
|
| 210 |
+
- left_arm_joint_5_rad
|
| 211 |
+
- left_arm_joint_6_rad
|
| 212 |
+
- left_arm_joint_7_rad
|
| 213 |
+
- left_gripper_open
|
| 214 |
+
- torso_joint_1_rad
|
| 215 |
+
- torso_joint_2_rad
|
| 216 |
+
- torso_joint_3_rad
|
| 217 |
+
- torso_joint_4_rad
|
| 218 |
+
- torso_joint_5_rad
|
| 219 |
+
- head_joint_1_rad
|
| 220 |
+
- head_joint_2_rad
|
| 221 |
+
- chassis_pos_1
|
| 222 |
+
- chassis_pos_2
|
| 223 |
+
- chassis_pos_3
|
| 224 |
+
- chassis_pos_4
|
| 225 |
+
- chassis_vel_1
|
| 226 |
+
- chassis_vel_2
|
| 227 |
+
- chassis_vel_3
|
| 228 |
+
- chassis_vel_4
|
| 229 |
+
- base_pos_x_m
|
| 230 |
+
- base_pos_y_m
|
| 231 |
+
- base_orient_quat_z
|
| 232 |
+
- base_orient_quat_w
|
| 233 |
+
- base_vel_x_m_s
|
| 234 |
+
- base_vel_y_m_s
|
| 235 |
+
- base_vel_angular_z_rad_s
|
| 236 |
+
shape:
|
| 237 |
+
- 38
|
| 238 |
+
observation.state:
|
| 239 |
+
dtype: float32
|
| 240 |
+
names:
|
| 241 |
+
- right_arm_joint_1_rad
|
| 242 |
+
- right_arm_joint_2_rad
|
| 243 |
+
- right_arm_joint_3_rad
|
| 244 |
+
- right_arm_joint_4_rad
|
| 245 |
+
- right_arm_joint_5_rad
|
| 246 |
+
- right_arm_joint_6_rad
|
| 247 |
+
- right_arm_joint_7_rad
|
| 248 |
+
- right_gripper_open
|
| 249 |
+
- left_arm_joint_1_rad
|
| 250 |
+
- left_arm_joint_2_rad
|
| 251 |
+
- left_arm_joint_3_rad
|
| 252 |
+
- left_arm_joint_4_rad
|
| 253 |
+
- left_arm_joint_5_rad
|
| 254 |
+
- left_arm_joint_6_rad
|
| 255 |
+
- left_arm_joint_7_rad
|
| 256 |
+
- left_gripper_open
|
| 257 |
+
- torso_joint_1_rad
|
| 258 |
+
- torso_joint_2_rad
|
| 259 |
+
- torso_joint_3_rad
|
| 260 |
+
- torso_joint_4_rad
|
| 261 |
+
- torso_joint_5_rad
|
| 262 |
+
- head_joint_1_rad
|
| 263 |
+
- head_joint_2_rad
|
| 264 |
+
- chassis_pos_1
|
| 265 |
+
- chassis_pos_2
|
| 266 |
+
- chassis_pos_3
|
| 267 |
+
- chassis_pos_4
|
| 268 |
+
- chassis_vel_1
|
| 269 |
+
- chassis_vel_2
|
| 270 |
+
- chassis_vel_3
|
| 271 |
+
- chassis_vel_4
|
| 272 |
+
- base_pos_x_m
|
| 273 |
+
- base_pos_y_m
|
| 274 |
+
- base_orient_quat_z
|
| 275 |
+
- base_orient_quat_w
|
| 276 |
+
- base_vel_x_m_s
|
| 277 |
+
- base_vel_y_m_s
|
| 278 |
+
- base_vel_angular_z_rad_s
|
| 279 |
+
shape:
|
| 280 |
+
- 38
|
| 281 |
+
observation.images.cam_right_head_rgb:
|
| 282 |
+
dtype: video
|
| 283 |
+
shape:
|
| 284 |
+
- 720
|
| 285 |
+
- 960
|
| 286 |
+
- 3
|
| 287 |
+
names:
|
| 288 |
+
- height
|
| 289 |
+
- width
|
| 290 |
+
- channels
|
| 291 |
+
info:
|
| 292 |
+
video.fps: 30
|
| 293 |
+
video.height: 720
|
| 294 |
+
video.width: 960
|
| 295 |
+
video.channels: 3
|
| 296 |
+
video.codec: libx264
|
| 297 |
+
video.pix_fmt: yuv420p
|
| 298 |
+
video.is_depth_map: false
|
| 299 |
+
has_audio: false
|
| 300 |
+
observation.images.cam_left_head_rgb:
|
| 301 |
+
dtype: video
|
| 302 |
+
shape:
|
| 303 |
+
- 720
|
| 304 |
+
- 960
|
| 305 |
+
- 3
|
| 306 |
+
names:
|
| 307 |
+
- height
|
| 308 |
+
- width
|
| 309 |
+
- channels
|
| 310 |
+
info:
|
| 311 |
+
video.fps: 30
|
| 312 |
+
video.height: 720
|
| 313 |
+
video.width: 960
|
| 314 |
+
video.channels: 3
|
| 315 |
+
video.codec: libx264
|
| 316 |
+
video.pix_fmt: yuv420p
|
| 317 |
+
video.is_depth_map: false
|
| 318 |
+
has_audio: false
|
| 319 |
+
observation.images.cam_right_wrist_rgb:
|
| 320 |
+
dtype: video
|
| 321 |
+
shape:
|
| 322 |
+
- 720
|
| 323 |
+
- 960
|
| 324 |
+
- 3
|
| 325 |
+
names:
|
| 326 |
+
- height
|
| 327 |
+
- width
|
| 328 |
+
- channels
|
| 329 |
+
info:
|
| 330 |
+
video.fps: 30
|
| 331 |
+
video.height: 720
|
| 332 |
+
video.width: 960
|
| 333 |
+
video.channels: 3
|
| 334 |
+
video.codec: libx264
|
| 335 |
+
video.pix_fmt: yuv420p
|
| 336 |
+
video.is_depth_map: false
|
| 337 |
+
has_audio: false
|
| 338 |
+
observation.images.cam_left_wrist_rgb:
|
| 339 |
+
dtype: video
|
| 340 |
+
shape:
|
| 341 |
+
- 720
|
| 342 |
+
- 960
|
| 343 |
+
- 3
|
| 344 |
+
names:
|
| 345 |
+
- height
|
| 346 |
+
- width
|
| 347 |
+
- channels
|
| 348 |
+
info:
|
| 349 |
+
video.fps: 30
|
| 350 |
+
video.height: 720
|
| 351 |
+
video.width: 960
|
| 352 |
+
video.channels: 3
|
| 353 |
+
video.codec: libx264
|
| 354 |
+
video.pix_fmt: yuv420p
|
| 355 |
+
video.is_depth_map: false
|
| 356 |
+
has_audio: false
|
| 357 |
+
timestamp:
|
| 358 |
+
dtype: float32
|
| 359 |
+
shape:
|
| 360 |
+
- 1
|
| 361 |
+
names: null
|
| 362 |
+
frame_index:
|
| 363 |
+
dtype: int64
|
| 364 |
+
shape:
|
| 365 |
+
- 1
|
| 366 |
+
names: null
|
| 367 |
+
episode_index:
|
| 368 |
+
dtype: int64
|
| 369 |
+
shape:
|
| 370 |
+
- 1
|
| 371 |
+
names: null
|
| 372 |
+
index:
|
| 373 |
+
dtype: int64
|
| 374 |
+
shape:
|
| 375 |
+
- 1
|
| 376 |
+
names: null
|
| 377 |
+
task_index:
|
| 378 |
+
dtype: int64
|
| 379 |
+
shape:
|
| 380 |
+
- 1
|
| 381 |
+
names: null
|
| 382 |
+
gripper_open_scale_state:
|
| 383 |
+
names:
|
| 384 |
+
- left_gripper_open_scale
|
| 385 |
+
- right_gripper_open_scale
|
| 386 |
+
dtype: float64
|
| 387 |
+
shape:
|
| 388 |
+
- 2
|
| 389 |
+
gripper_open_scale_action:
|
| 390 |
+
names:
|
| 391 |
+
- left_gripper_open_scale
|
| 392 |
+
- right_gripper_open_scale
|
| 393 |
+
dtype: float64
|
| 394 |
+
shape:
|
| 395 |
+
- 2
|
| 396 |
+
eef_sim_pose_state:
|
| 397 |
+
names:
|
| 398 |
+
- left_eef_pos_x
|
| 399 |
+
- left_eef_pos_y
|
| 400 |
+
- left_eef_pos_z
|
| 401 |
+
- left_eef_rot_x
|
| 402 |
+
- left_eef_rot_y
|
| 403 |
+
- left_eef_rot_z
|
| 404 |
+
- right_eef_pos_x
|
| 405 |
+
- right_eef_pos_y
|
| 406 |
+
- right_eef_pos_z
|
| 407 |
+
- right_eef_rot_x
|
| 408 |
+
- right_eef_rot_y
|
| 409 |
+
- right_eef_rot_z
|
| 410 |
+
dtype: float32
|
| 411 |
+
shape:
|
| 412 |
+
- 12
|
| 413 |
+
eef_sim_pose_action:
|
| 414 |
+
names:
|
| 415 |
+
- left_eef_pos_x
|
| 416 |
+
- left_eef_pos_y
|
| 417 |
+
- left_eef_pos_z
|
| 418 |
+
- left_eef_rot_x
|
| 419 |
+
- left_eef_rot_y
|
| 420 |
+
- left_eef_rot_z
|
| 421 |
+
- right_eef_pos_x
|
| 422 |
+
- right_eef_pos_y
|
| 423 |
+
- right_eef_pos_z
|
| 424 |
+
- right_eef_rot_x
|
| 425 |
+
- right_eef_rot_y
|
| 426 |
+
- right_eef_rot_z
|
| 427 |
+
dtype: float32
|
| 428 |
+
shape:
|
| 429 |
+
- 12
|
| 430 |
+
eef_direction_state:
|
| 431 |
+
names:
|
| 432 |
+
- left_eef_direction
|
| 433 |
+
- right_eef_direction
|
| 434 |
+
dtype: int32
|
| 435 |
+
shape:
|
| 436 |
+
- 2
|
| 437 |
+
eef_direction_action:
|
| 438 |
+
names:
|
| 439 |
+
- left_eef_direction
|
| 440 |
+
- right_eef_direction
|
| 441 |
+
dtype: int32
|
| 442 |
+
shape:
|
| 443 |
+
- 2
|
| 444 |
+
eef_velocity_state:
|
| 445 |
+
names:
|
| 446 |
+
- left_eef_velocity
|
| 447 |
+
- right_eef_velocity
|
| 448 |
+
dtype: int32
|
| 449 |
+
shape:
|
| 450 |
+
- 2
|
| 451 |
+
eef_velocity_action:
|
| 452 |
+
names:
|
| 453 |
+
- left_eef_velocity
|
| 454 |
+
- right_eef_velocity
|
| 455 |
+
dtype: int32
|
| 456 |
+
shape:
|
| 457 |
+
- 2
|
| 458 |
+
eef_acc_mag_state:
|
| 459 |
+
names:
|
| 460 |
+
- left_eef_acc_mag
|
| 461 |
+
- right_eef_acc_mag
|
| 462 |
+
dtype: int32
|
| 463 |
+
shape:
|
| 464 |
+
- 2
|
| 465 |
+
eef_acc_mag_action:
|
| 466 |
+
names:
|
| 467 |
+
- left_eef_acc_mag
|
| 468 |
+
- right_eef_acc_mag
|
| 469 |
+
dtype: int32
|
| 470 |
+
shape:
|
| 471 |
+
- 2
|
| 472 |
+
gripper_mode_state:
|
| 473 |
+
names:
|
| 474 |
+
- left_gripper_mode
|
| 475 |
+
- right_gripper_mode
|
| 476 |
+
dtype: int32
|
| 477 |
+
shape:
|
| 478 |
+
- 2
|
| 479 |
+
gripper_mode_action:
|
| 480 |
+
names:
|
| 481 |
+
- left_gripper_mode
|
| 482 |
+
- right_gripper_mode
|
| 483 |
+
dtype: int32
|
| 484 |
+
shape:
|
| 485 |
+
- 2
|
| 486 |
+
gripper_activity_state:
|
| 487 |
+
names:
|
| 488 |
+
- left_gripper_activity
|
| 489 |
+
- right_gripper_activity
|
| 490 |
+
dtype: int32
|
| 491 |
+
shape:
|
| 492 |
+
- 2
|
| 493 |
+
gripper_activity_action:
|
| 494 |
+
names:
|
| 495 |
+
- left_gripper_activity
|
| 496 |
+
- right_gripper_activity
|
| 497 |
+
dtype: int32
|
| 498 |
+
shape:
|
| 499 |
+
- 2
|
| 500 |
+
authors:
|
| 501 |
+
contributed_by:
|
| 502 |
+
- name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
|
| 503 |
+
dataset_description: This dataset uses an extended format based on LeRobot and is
|
| 504 |
+
fully compatible with LeRobot.
|
| 505 |
+
homepage: https://flagopen.github.io/RoboCOIN/
|
| 506 |
+
paper: https://arxiv.org/abs/2511.17441
|
| 507 |
+
repository: https://github.com/FlagOpen/RoboCOIN
|
| 508 |
+
contact_info: For questions, issues, or feedback regarding this dataset, please contact
|
| 509 |
+
us.
|
| 510 |
+
support_info: For technical support, please open an issue on our GitHub repository.
|
| 511 |
+
license_details: apache-2.0
|
| 512 |
+
citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\
|
| 513 |
+
\ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\
|
| 514 |
+
\ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
|
| 515 |
+
\ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
|
| 516 |
+
\ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
|
| 517 |
+
\ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
|
| 518 |
+
\ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
|
| 519 |
+
\ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
|
| 520 |
+
\ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
|
| 521 |
+
\ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
|
| 522 |
+
\ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
|
| 523 |
+
\ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
|
| 524 |
+
\ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
|
| 525 |
+
\ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
|
| 526 |
+
\ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\
|
| 527 |
+
\ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n"
|
| 528 |
+
additional_citations: 'If you use this dataset, please also consider citing:
|
| 529 |
+
|
| 530 |
+
LeRobot Framework: https://github.com/huggingface/lerobot
|
| 531 |
+
|
| 532 |
+
'
|
| 533 |
+
version_info: Initial Release
|
| 534 |
+
data_path: data/chunk-{id}/episode_{id}.parquet
|
| 535 |
+
video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
|
| 536 |
+
video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4
|
dataset_info/Galbot_G1_move_stamp.yaml
ADDED
|
@@ -0,0 +1,514 @@
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|
|
| 1 |
+
task_categories:
|
| 2 |
+
- robotics
|
| 3 |
+
language:
|
| 4 |
+
- en
|
| 5 |
+
tags:
|
| 6 |
+
- RoboCOIN
|
| 7 |
+
- LeRobot
|
| 8 |
+
license: apache-2.0
|
| 9 |
+
configs:
|
| 10 |
+
- config_name: default
|
| 11 |
+
data_files: data/chunk-{id}/episode_{id}.parquet
|
| 12 |
+
extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
|
| 13 |
+
in your research/publications—see the "Citation" section for details. You agree
|
| 14 |
+
to not use the dataset to conduct experiments that cause harm to human subjects.
|
| 15 |
+
extra_gated_fields:
|
| 16 |
+
Company/Organization:
|
| 17 |
+
type: text
|
| 18 |
+
description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
|
| 19 |
+
Country:
|
| 20 |
+
type: country
|
| 21 |
+
description: e.g., "Germany", "China", "United States"
|
| 22 |
+
codebase_version: v2.1
|
| 23 |
+
dataset_name: Galbot_G1_move_stamp
|
| 24 |
+
dataset_uuid: 172ed6f3-29c6-4f6c-8c16-327a18208329
|
| 25 |
+
scene_type:
|
| 26 |
+
level1: Office
|
| 27 |
+
level2: Office
|
| 28 |
+
level3: null
|
| 29 |
+
level4: null
|
| 30 |
+
level5: null
|
| 31 |
+
env_type: real_world
|
| 32 |
+
objects:
|
| 33 |
+
- id: seal
|
| 34 |
+
name: seal
|
| 35 |
+
color: transparent
|
| 36 |
+
anchor_policy: static
|
| 37 |
+
- id: ink_pad
|
| 38 |
+
name: ink pad
|
| 39 |
+
color: red
|
| 40 |
+
anchor_policy: static
|
| 41 |
+
- id: a4_paper
|
| 42 |
+
name: A4 paper
|
| 43 |
+
color: white
|
| 44 |
+
anchor_policy: static
|
| 45 |
+
- id: table
|
| 46 |
+
name: table
|
| 47 |
+
color: white
|
| 48 |
+
anchor_policy: static
|
| 49 |
+
task_operation_type: fixed_single_arm
|
| 50 |
+
task_instruction: Pick up the stamp from the ink pad and place it onto another ink
|
| 51 |
+
pad.
|
| 52 |
+
sub_tasks:
|
| 53 |
+
- Pick up the stamp from the ink pad and place it onto another ink pad.
|
| 54 |
+
atomic_actions:
|
| 55 |
+
- grasp
|
| 56 |
+
- place
|
| 57 |
+
robot_name: Galbot_G1
|
| 58 |
+
end_effector_type: two_finger_end_effector
|
| 59 |
+
tele_type: master_arm
|
| 60 |
+
sensor_list:
|
| 61 |
+
- cam_right_head_rgb
|
| 62 |
+
- cam_left_head_rgb
|
| 63 |
+
- cam_right_wrist_rgb
|
| 64 |
+
- cam_left_wrist_rgb
|
| 65 |
+
came_info:
|
| 66 |
+
cam_right_head_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264,
|
| 67 |
+
pix_fmt=yuv420p
|
| 68 |
+
cam_left_head_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264,
|
| 69 |
+
pix_fmt=yuv420p
|
| 70 |
+
cam_right_wrist_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264,
|
| 71 |
+
pix_fmt=yuv420p
|
| 72 |
+
cam_left_wrist_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264,
|
| 73 |
+
pix_fmt=yuv420p
|
| 74 |
+
depth_enabled: false
|
| 75 |
+
coordinate_definition: right-hand-frame
|
| 76 |
+
joint_rotation_dim: radian
|
| 77 |
+
end_rotation_dim: radian
|
| 78 |
+
end_translation_dim: meter
|
| 79 |
+
base_translation_dim: meter
|
| 80 |
+
annotations:
|
| 81 |
+
- eef_acc_mag_annotation.jsonl
|
| 82 |
+
- eef_direction_annotation.jsonl
|
| 83 |
+
- eef_velocity_annotation.jsonl
|
| 84 |
+
- gripper_activity_annotation.jsonl
|
| 85 |
+
- gripper_mode_annotation.jsonl
|
| 86 |
+
statistics:
|
| 87 |
+
total_episodes: 50
|
| 88 |
+
total_frames: 17073
|
| 89 |
+
fps: 30
|
| 90 |
+
total_tasks: 1
|
| 91 |
+
total_videos: 200
|
| 92 |
+
total_chunks: 1
|
| 93 |
+
chunks_size: 10000
|
| 94 |
+
state_dim: 38
|
| 95 |
+
action_dim: 38
|
| 96 |
+
camera_views: 4
|
| 97 |
+
dataset_size: 755.66 MB
|
| 98 |
+
frame_num: 17073
|
| 99 |
+
frame_range: 100K
|
| 100 |
+
dataset_size: 755.66 MB
|
| 101 |
+
data_structure: 'Galbot_G1_move_stamp_0_qced_hardlink/
|
| 102 |
+
|
| 103 |
+
|-- annotations
|
| 104 |
+
|
| 105 |
+
| |-- eef_acc_mag_annotation.jsonl
|
| 106 |
+
|
| 107 |
+
| |-- eef_direction_annotation.jsonl
|
| 108 |
+
|
| 109 |
+
| |-- eef_velocity_annotation.jsonl
|
| 110 |
+
|
| 111 |
+
| |-- gripper_activity_annotation.jsonl
|
| 112 |
+
|
| 113 |
+
| `-- gripper_mode_annotation.jsonl
|
| 114 |
+
|
| 115 |
+
|-- data
|
| 116 |
+
|
| 117 |
+
| `-- chunk-000
|
| 118 |
+
|
| 119 |
+
| |-- episode_000000.parquet
|
| 120 |
+
|
| 121 |
+
| |-- episode_000001.parquet
|
| 122 |
+
|
| 123 |
+
| |-- episode_000002.parquet
|
| 124 |
+
|
| 125 |
+
| |-- episode_000003.parquet
|
| 126 |
+
|
| 127 |
+
| |-- episode_000004.parquet
|
| 128 |
+
|
| 129 |
+
| |-- episode_000005.parquet
|
| 130 |
+
|
| 131 |
+
| |-- episode_000006.parquet
|
| 132 |
+
|
| 133 |
+
| |-- episode_000007.parquet
|
| 134 |
+
|
| 135 |
+
| |-- episode_000008.parquet
|
| 136 |
+
|
| 137 |
+
| |-- episode_000009.parquet
|
| 138 |
+
|
| 139 |
+
| |-- episode_000010.parquet
|
| 140 |
+
|
| 141 |
+
| `-- episode_000011.parquet
|
| 142 |
+
|
| 143 |
+
| `-- ... (38 more entries)
|
| 144 |
+
|
| 145 |
+
|-- meta
|
| 146 |
+
|
| 147 |
+
| |-- episodes.jsonl
|
| 148 |
+
|
| 149 |
+
| |-- episodes_stats.jsonl
|
| 150 |
+
|
| 151 |
+
| |-- info.json
|
| 152 |
+
|
| 153 |
+
| `-- tasks.jsonl
|
| 154 |
+
|
| 155 |
+
|-- videos
|
| 156 |
+
|
| 157 |
+
| `-- chunk-000
|
| 158 |
+
|
| 159 |
+
| |-- observation.images.cam_left_head_rgb
|
| 160 |
+
|
| 161 |
+
| |-- observation.images.cam_left_wrist_rgb
|
| 162 |
+
|
| 163 |
+
| |-- observation.images.cam_right_head_rgb
|
| 164 |
+
|
| 165 |
+
| `-- observation.images.cam_right_wrist_rgb
|
| 166 |
+
|
| 167 |
+
|-- info.yaml
|
| 168 |
+
|
| 169 |
+
`-- README.md'
|
| 170 |
+
splits:
|
| 171 |
+
train: 0:49
|
| 172 |
+
features:
|
| 173 |
+
action:
|
| 174 |
+
dtype: float32
|
| 175 |
+
names:
|
| 176 |
+
- right_arm_joint_1_rad
|
| 177 |
+
- right_arm_joint_2_rad
|
| 178 |
+
- right_arm_joint_3_rad
|
| 179 |
+
- right_arm_joint_4_rad
|
| 180 |
+
- right_arm_joint_5_rad
|
| 181 |
+
- right_arm_joint_6_rad
|
| 182 |
+
- right_arm_joint_7_rad
|
| 183 |
+
- right_gripper_open
|
| 184 |
+
- left_arm_joint_1_rad
|
| 185 |
+
- left_arm_joint_2_rad
|
| 186 |
+
- left_arm_joint_3_rad
|
| 187 |
+
- left_arm_joint_4_rad
|
| 188 |
+
- left_arm_joint_5_rad
|
| 189 |
+
- left_arm_joint_6_rad
|
| 190 |
+
- left_arm_joint_7_rad
|
| 191 |
+
- left_gripper_open
|
| 192 |
+
- torso_joint_1_rad
|
| 193 |
+
- torso_joint_2_rad
|
| 194 |
+
- torso_joint_3_rad
|
| 195 |
+
- torso_joint_4_rad
|
| 196 |
+
- torso_joint_5_rad
|
| 197 |
+
- head_joint_1_rad
|
| 198 |
+
- head_joint_2_rad
|
| 199 |
+
- chassis_pos_1
|
| 200 |
+
- chassis_pos_2
|
| 201 |
+
- chassis_pos_3
|
| 202 |
+
- chassis_pos_4
|
| 203 |
+
- chassis_vel_1
|
| 204 |
+
- chassis_vel_2
|
| 205 |
+
- chassis_vel_3
|
| 206 |
+
- chassis_vel_4
|
| 207 |
+
- base_pos_x_m
|
| 208 |
+
- base_pos_y_m
|
| 209 |
+
- base_orient_quat_z
|
| 210 |
+
- base_orient_quat_w
|
| 211 |
+
- base_vel_x_m_s
|
| 212 |
+
- base_vel_y_m_s
|
| 213 |
+
- base_vel_angular_z_rad_s
|
| 214 |
+
shape:
|
| 215 |
+
- 38
|
| 216 |
+
observation.state:
|
| 217 |
+
dtype: float32
|
| 218 |
+
names:
|
| 219 |
+
- right_arm_joint_1_rad
|
| 220 |
+
- right_arm_joint_2_rad
|
| 221 |
+
- right_arm_joint_3_rad
|
| 222 |
+
- right_arm_joint_4_rad
|
| 223 |
+
- right_arm_joint_5_rad
|
| 224 |
+
- right_arm_joint_6_rad
|
| 225 |
+
- right_arm_joint_7_rad
|
| 226 |
+
- right_gripper_open
|
| 227 |
+
- left_arm_joint_1_rad
|
| 228 |
+
- left_arm_joint_2_rad
|
| 229 |
+
- left_arm_joint_3_rad
|
| 230 |
+
- left_arm_joint_4_rad
|
| 231 |
+
- left_arm_joint_5_rad
|
| 232 |
+
- left_arm_joint_6_rad
|
| 233 |
+
- left_arm_joint_7_rad
|
| 234 |
+
- left_gripper_open
|
| 235 |
+
- torso_joint_1_rad
|
| 236 |
+
- torso_joint_2_rad
|
| 237 |
+
- torso_joint_3_rad
|
| 238 |
+
- torso_joint_4_rad
|
| 239 |
+
- torso_joint_5_rad
|
| 240 |
+
- head_joint_1_rad
|
| 241 |
+
- head_joint_2_rad
|
| 242 |
+
- chassis_pos_1
|
| 243 |
+
- chassis_pos_2
|
| 244 |
+
- chassis_pos_3
|
| 245 |
+
- chassis_pos_4
|
| 246 |
+
- chassis_vel_1
|
| 247 |
+
- chassis_vel_2
|
| 248 |
+
- chassis_vel_3
|
| 249 |
+
- chassis_vel_4
|
| 250 |
+
- base_pos_x_m
|
| 251 |
+
- base_pos_y_m
|
| 252 |
+
- base_orient_quat_z
|
| 253 |
+
- base_orient_quat_w
|
| 254 |
+
- base_vel_x_m_s
|
| 255 |
+
- base_vel_y_m_s
|
| 256 |
+
- base_vel_angular_z_rad_s
|
| 257 |
+
shape:
|
| 258 |
+
- 38
|
| 259 |
+
observation.images.cam_right_head_rgb:
|
| 260 |
+
dtype: video
|
| 261 |
+
shape:
|
| 262 |
+
- 720
|
| 263 |
+
- 960
|
| 264 |
+
- 3
|
| 265 |
+
names:
|
| 266 |
+
- height
|
| 267 |
+
- width
|
| 268 |
+
- channels
|
| 269 |
+
info:
|
| 270 |
+
video.fps: 30
|
| 271 |
+
video.height: 720
|
| 272 |
+
video.width: 960
|
| 273 |
+
video.channels: 3
|
| 274 |
+
video.codec: libx264
|
| 275 |
+
video.pix_fmt: yuv420p
|
| 276 |
+
video.is_depth_map: false
|
| 277 |
+
has_audio: false
|
| 278 |
+
observation.images.cam_left_head_rgb:
|
| 279 |
+
dtype: video
|
| 280 |
+
shape:
|
| 281 |
+
- 720
|
| 282 |
+
- 960
|
| 283 |
+
- 3
|
| 284 |
+
names:
|
| 285 |
+
- height
|
| 286 |
+
- width
|
| 287 |
+
- channels
|
| 288 |
+
info:
|
| 289 |
+
video.fps: 30
|
| 290 |
+
video.height: 720
|
| 291 |
+
video.width: 960
|
| 292 |
+
video.channels: 3
|
| 293 |
+
video.codec: libx264
|
| 294 |
+
video.pix_fmt: yuv420p
|
| 295 |
+
video.is_depth_map: false
|
| 296 |
+
has_audio: false
|
| 297 |
+
observation.images.cam_right_wrist_rgb:
|
| 298 |
+
dtype: video
|
| 299 |
+
shape:
|
| 300 |
+
- 720
|
| 301 |
+
- 960
|
| 302 |
+
- 3
|
| 303 |
+
names:
|
| 304 |
+
- height
|
| 305 |
+
- width
|
| 306 |
+
- channels
|
| 307 |
+
info:
|
| 308 |
+
video.fps: 30
|
| 309 |
+
video.height: 720
|
| 310 |
+
video.width: 960
|
| 311 |
+
video.channels: 3
|
| 312 |
+
video.codec: libx264
|
| 313 |
+
video.pix_fmt: yuv420p
|
| 314 |
+
video.is_depth_map: false
|
| 315 |
+
has_audio: false
|
| 316 |
+
observation.images.cam_left_wrist_rgb:
|
| 317 |
+
dtype: video
|
| 318 |
+
shape:
|
| 319 |
+
- 720
|
| 320 |
+
- 960
|
| 321 |
+
- 3
|
| 322 |
+
names:
|
| 323 |
+
- height
|
| 324 |
+
- width
|
| 325 |
+
- channels
|
| 326 |
+
info:
|
| 327 |
+
video.fps: 30
|
| 328 |
+
video.height: 720
|
| 329 |
+
video.width: 960
|
| 330 |
+
video.channels: 3
|
| 331 |
+
video.codec: libx264
|
| 332 |
+
video.pix_fmt: yuv420p
|
| 333 |
+
video.is_depth_map: false
|
| 334 |
+
has_audio: false
|
| 335 |
+
timestamp:
|
| 336 |
+
dtype: float32
|
| 337 |
+
shape:
|
| 338 |
+
- 1
|
| 339 |
+
names: null
|
| 340 |
+
frame_index:
|
| 341 |
+
dtype: int64
|
| 342 |
+
shape:
|
| 343 |
+
- 1
|
| 344 |
+
names: null
|
| 345 |
+
episode_index:
|
| 346 |
+
dtype: int64
|
| 347 |
+
shape:
|
| 348 |
+
- 1
|
| 349 |
+
names: null
|
| 350 |
+
index:
|
| 351 |
+
dtype: int64
|
| 352 |
+
shape:
|
| 353 |
+
- 1
|
| 354 |
+
names: null
|
| 355 |
+
task_index:
|
| 356 |
+
dtype: int64
|
| 357 |
+
shape:
|
| 358 |
+
- 1
|
| 359 |
+
names: null
|
| 360 |
+
gripper_open_scale_state:
|
| 361 |
+
names:
|
| 362 |
+
- left_gripper_open_scale
|
| 363 |
+
- right_gripper_open_scale
|
| 364 |
+
dtype: float64
|
| 365 |
+
shape:
|
| 366 |
+
- 2
|
| 367 |
+
gripper_open_scale_action:
|
| 368 |
+
names:
|
| 369 |
+
- left_gripper_open_scale
|
| 370 |
+
- right_gripper_open_scale
|
| 371 |
+
dtype: float64
|
| 372 |
+
shape:
|
| 373 |
+
- 2
|
| 374 |
+
eef_sim_pose_state:
|
| 375 |
+
names:
|
| 376 |
+
- left_eef_pos_x
|
| 377 |
+
- left_eef_pos_y
|
| 378 |
+
- left_eef_pos_z
|
| 379 |
+
- left_eef_rot_x
|
| 380 |
+
- left_eef_rot_y
|
| 381 |
+
- left_eef_rot_z
|
| 382 |
+
- right_eef_pos_x
|
| 383 |
+
- right_eef_pos_y
|
| 384 |
+
- right_eef_pos_z
|
| 385 |
+
- right_eef_rot_x
|
| 386 |
+
- right_eef_rot_y
|
| 387 |
+
- right_eef_rot_z
|
| 388 |
+
dtype: float32
|
| 389 |
+
shape:
|
| 390 |
+
- 12
|
| 391 |
+
eef_sim_pose_action:
|
| 392 |
+
names:
|
| 393 |
+
- left_eef_pos_x
|
| 394 |
+
- left_eef_pos_y
|
| 395 |
+
- left_eef_pos_z
|
| 396 |
+
- left_eef_rot_x
|
| 397 |
+
- left_eef_rot_y
|
| 398 |
+
- left_eef_rot_z
|
| 399 |
+
- right_eef_pos_x
|
| 400 |
+
- right_eef_pos_y
|
| 401 |
+
- right_eef_pos_z
|
| 402 |
+
- right_eef_rot_x
|
| 403 |
+
- right_eef_rot_y
|
| 404 |
+
- right_eef_rot_z
|
| 405 |
+
dtype: float32
|
| 406 |
+
shape:
|
| 407 |
+
- 12
|
| 408 |
+
eef_direction_state:
|
| 409 |
+
names:
|
| 410 |
+
- left_eef_direction
|
| 411 |
+
- right_eef_direction
|
| 412 |
+
dtype: int32
|
| 413 |
+
shape:
|
| 414 |
+
- 2
|
| 415 |
+
eef_direction_action:
|
| 416 |
+
names:
|
| 417 |
+
- left_eef_direction
|
| 418 |
+
- right_eef_direction
|
| 419 |
+
dtype: int32
|
| 420 |
+
shape:
|
| 421 |
+
- 2
|
| 422 |
+
eef_velocity_state:
|
| 423 |
+
names:
|
| 424 |
+
- left_eef_velocity
|
| 425 |
+
- right_eef_velocity
|
| 426 |
+
dtype: int32
|
| 427 |
+
shape:
|
| 428 |
+
- 2
|
| 429 |
+
eef_velocity_action:
|
| 430 |
+
names:
|
| 431 |
+
- left_eef_velocity
|
| 432 |
+
- right_eef_velocity
|
| 433 |
+
dtype: int32
|
| 434 |
+
shape:
|
| 435 |
+
- 2
|
| 436 |
+
eef_acc_mag_state:
|
| 437 |
+
names:
|
| 438 |
+
- left_eef_acc_mag
|
| 439 |
+
- right_eef_acc_mag
|
| 440 |
+
dtype: int32
|
| 441 |
+
shape:
|
| 442 |
+
- 2
|
| 443 |
+
eef_acc_mag_action:
|
| 444 |
+
names:
|
| 445 |
+
- left_eef_acc_mag
|
| 446 |
+
- right_eef_acc_mag
|
| 447 |
+
dtype: int32
|
| 448 |
+
shape:
|
| 449 |
+
- 2
|
| 450 |
+
gripper_mode_state:
|
| 451 |
+
names:
|
| 452 |
+
- left_gripper_mode
|
| 453 |
+
- right_gripper_mode
|
| 454 |
+
dtype: int32
|
| 455 |
+
shape:
|
| 456 |
+
- 2
|
| 457 |
+
gripper_mode_action:
|
| 458 |
+
names:
|
| 459 |
+
- left_gripper_mode
|
| 460 |
+
- right_gripper_mode
|
| 461 |
+
dtype: int32
|
| 462 |
+
shape:
|
| 463 |
+
- 2
|
| 464 |
+
gripper_activity_state:
|
| 465 |
+
names:
|
| 466 |
+
- left_gripper_activity
|
| 467 |
+
- right_gripper_activity
|
| 468 |
+
dtype: int32
|
| 469 |
+
shape:
|
| 470 |
+
- 2
|
| 471 |
+
gripper_activity_action:
|
| 472 |
+
names:
|
| 473 |
+
- left_gripper_activity
|
| 474 |
+
- right_gripper_activity
|
| 475 |
+
dtype: int32
|
| 476 |
+
shape:
|
| 477 |
+
- 2
|
| 478 |
+
authors:
|
| 479 |
+
contributed_by:
|
| 480 |
+
- name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
|
| 481 |
+
dataset_description: This dataset uses an extended format based on LeRobot and is
|
| 482 |
+
fully compatible with LeRobot.
|
| 483 |
+
homepage: https://flagopen.github.io/RoboCOIN/
|
| 484 |
+
paper: https://arxiv.org/abs/2511.17441
|
| 485 |
+
repository: https://github.com/FlagOpen/RoboCOIN
|
| 486 |
+
contact_info: For questions, issues, or feedback regarding this dataset, please contact
|
| 487 |
+
us.
|
| 488 |
+
support_info: For technical support, please open an issue on our GitHub repository.
|
| 489 |
+
license_details: apache-2.0
|
| 490 |
+
citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\
|
| 491 |
+
\ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\
|
| 492 |
+
\ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
|
| 493 |
+
\ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
|
| 494 |
+
\ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
|
| 495 |
+
\ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
|
| 496 |
+
\ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
|
| 497 |
+
\ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
|
| 498 |
+
\ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
|
| 499 |
+
\ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
|
| 500 |
+
\ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
|
| 501 |
+
\ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
|
| 502 |
+
\ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
|
| 503 |
+
\ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
|
| 504 |
+
\ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\
|
| 505 |
+
\ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n"
|
| 506 |
+
additional_citations: 'If you use this dataset, please also consider citing:
|
| 507 |
+
|
| 508 |
+
LeRobot Framework: https://github.com/huggingface/lerobot
|
| 509 |
+
|
| 510 |
+
'
|
| 511 |
+
version_info: Initial Release
|
| 512 |
+
data_path: data/chunk-{id}/episode_{id}.parquet
|
| 513 |
+
video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
|
| 514 |
+
video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4
|
dataset_info/Galbot_G1_move_takeout_bag.yaml
ADDED
|
@@ -0,0 +1,510 @@
|
|
|
|
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|
|
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|
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|
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|
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|
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|
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|
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|
|
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|
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|
|
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|
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|
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|
|
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|
|
|
|
|
|
|
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|
|
|
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|
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|
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|
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|
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|
|
|
|
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|
|
|
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|
|
|
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|
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|
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|
|
|
|
|
|
|
|
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|
|
|
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|
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|
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|
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|
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|
|
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|
|
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|
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|
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|
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|
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|
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|
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|
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|
|
|
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|
|
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|
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|
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|
|
|
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|
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|
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|
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|
|
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|
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|
|
|
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|
|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
task_categories:
|
| 2 |
+
- robotics
|
| 3 |
+
language:
|
| 4 |
+
- en
|
| 5 |
+
tags:
|
| 6 |
+
- RoboCOIN
|
| 7 |
+
- LeRobot
|
| 8 |
+
license: apache-2.0
|
| 9 |
+
configs:
|
| 10 |
+
- config_name: default
|
| 11 |
+
data_files: data/chunk-{id}/episode_{id}.parquet
|
| 12 |
+
extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
|
| 13 |
+
in your research/publications—see the "Citation" section for details. You agree
|
| 14 |
+
to not use the dataset to conduct experiments that cause harm to human subjects.
|
| 15 |
+
extra_gated_fields:
|
| 16 |
+
Company/Organization:
|
| 17 |
+
type: text
|
| 18 |
+
description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
|
| 19 |
+
Country:
|
| 20 |
+
type: country
|
| 21 |
+
description: e.g., "Germany", "China", "United States"
|
| 22 |
+
codebase_version: v2.1
|
| 23 |
+
dataset_name: Galbot_G1_move_takeout_bag
|
| 24 |
+
dataset_uuid: d447b01f-c67d-4df5-980f-a2e2f5778ed8
|
| 25 |
+
scene_type:
|
| 26 |
+
level1: Household
|
| 27 |
+
level2: Living Room
|
| 28 |
+
level3: null
|
| 29 |
+
level4: null
|
| 30 |
+
level5: null
|
| 31 |
+
env_type: real_world
|
| 32 |
+
objects:
|
| 33 |
+
- id: takeout_bag
|
| 34 |
+
name: takeout bag
|
| 35 |
+
color: none
|
| 36 |
+
anchor_policy: static
|
| 37 |
+
- id: table
|
| 38 |
+
name: table
|
| 39 |
+
color: brown
|
| 40 |
+
anchor_policy: static
|
| 41 |
+
- id: floor_mat
|
| 42 |
+
name: floor mat
|
| 43 |
+
color: brown
|
| 44 |
+
anchor_policy: static
|
| 45 |
+
task_operation_type: fixed_single_arm
|
| 46 |
+
task_instruction: Pick up the food delivery bag from the floor and place it on the
|
| 47 |
+
table.
|
| 48 |
+
sub_tasks:
|
| 49 |
+
- Pick up the food delivery bag from the floor and place it on the table.
|
| 50 |
+
atomic_actions:
|
| 51 |
+
- grasp
|
| 52 |
+
- place
|
| 53 |
+
robot_name: Galbot_G1
|
| 54 |
+
end_effector_type: two_finger_end_effector
|
| 55 |
+
tele_type: master_arm
|
| 56 |
+
sensor_list:
|
| 57 |
+
- cam_right_head_rgb
|
| 58 |
+
- cam_left_head_rgb
|
| 59 |
+
- cam_right_wrist_rgb
|
| 60 |
+
- cam_left_wrist_rgb
|
| 61 |
+
came_info:
|
| 62 |
+
cam_right_head_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264,
|
| 63 |
+
pix_fmt=yuv420p
|
| 64 |
+
cam_left_head_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264,
|
| 65 |
+
pix_fmt=yuv420p
|
| 66 |
+
cam_right_wrist_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264,
|
| 67 |
+
pix_fmt=yuv420p
|
| 68 |
+
cam_left_wrist_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264,
|
| 69 |
+
pix_fmt=yuv420p
|
| 70 |
+
depth_enabled: false
|
| 71 |
+
coordinate_definition: right-hand-frame
|
| 72 |
+
joint_rotation_dim: radian
|
| 73 |
+
end_rotation_dim: radian
|
| 74 |
+
end_translation_dim: meter
|
| 75 |
+
base_translation_dim: meter
|
| 76 |
+
annotations:
|
| 77 |
+
- eef_acc_mag_annotation.jsonl
|
| 78 |
+
- eef_direction_annotation.jsonl
|
| 79 |
+
- eef_velocity_annotation.jsonl
|
| 80 |
+
- gripper_activity_annotation.jsonl
|
| 81 |
+
- gripper_mode_annotation.jsonl
|
| 82 |
+
statistics:
|
| 83 |
+
total_episodes: 275
|
| 84 |
+
total_frames: 291239
|
| 85 |
+
fps: 30
|
| 86 |
+
total_tasks: 1
|
| 87 |
+
total_videos: 1100
|
| 88 |
+
total_chunks: 1
|
| 89 |
+
chunks_size: 10000
|
| 90 |
+
state_dim: 38
|
| 91 |
+
action_dim: 38
|
| 92 |
+
camera_views: 4
|
| 93 |
+
dataset_size: 24.16 GB
|
| 94 |
+
frame_num: 291239
|
| 95 |
+
frame_range: 1M
|
| 96 |
+
dataset_size: 24.16 GB
|
| 97 |
+
data_structure: 'Galbot_G1_move_takeout_bag_0_qced_hardlink/
|
| 98 |
+
|
| 99 |
+
|-- annotations
|
| 100 |
+
|
| 101 |
+
| |-- eef_acc_mag_annotation.jsonl
|
| 102 |
+
|
| 103 |
+
| |-- eef_direction_annotation.jsonl
|
| 104 |
+
|
| 105 |
+
| |-- eef_velocity_annotation.jsonl
|
| 106 |
+
|
| 107 |
+
| |-- gripper_activity_annotation.jsonl
|
| 108 |
+
|
| 109 |
+
| `-- gripper_mode_annotation.jsonl
|
| 110 |
+
|
| 111 |
+
|-- data
|
| 112 |
+
|
| 113 |
+
| `-- chunk-000
|
| 114 |
+
|
| 115 |
+
| |-- episode_000000.parquet
|
| 116 |
+
|
| 117 |
+
| |-- episode_000001.parquet
|
| 118 |
+
|
| 119 |
+
| |-- episode_000002.parquet
|
| 120 |
+
|
| 121 |
+
| |-- episode_000003.parquet
|
| 122 |
+
|
| 123 |
+
| |-- episode_000004.parquet
|
| 124 |
+
|
| 125 |
+
| |-- episode_000005.parquet
|
| 126 |
+
|
| 127 |
+
| |-- episode_000006.parquet
|
| 128 |
+
|
| 129 |
+
| |-- episode_000007.parquet
|
| 130 |
+
|
| 131 |
+
| |-- episode_000008.parquet
|
| 132 |
+
|
| 133 |
+
| |-- episode_000009.parquet
|
| 134 |
+
|
| 135 |
+
| |-- episode_000010.parquet
|
| 136 |
+
|
| 137 |
+
| `-- episode_000011.parquet
|
| 138 |
+
|
| 139 |
+
| `-- ... (263 more entries)
|
| 140 |
+
|
| 141 |
+
|-- meta
|
| 142 |
+
|
| 143 |
+
| |-- episodes.jsonl
|
| 144 |
+
|
| 145 |
+
| |-- episodes_stats.jsonl
|
| 146 |
+
|
| 147 |
+
| |-- info.json
|
| 148 |
+
|
| 149 |
+
| `-- tasks.jsonl
|
| 150 |
+
|
| 151 |
+
|-- videos
|
| 152 |
+
|
| 153 |
+
| `-- chunk-000
|
| 154 |
+
|
| 155 |
+
| |-- observation.images.cam_left_head_rgb
|
| 156 |
+
|
| 157 |
+
| |-- observation.images.cam_left_wrist_rgb
|
| 158 |
+
|
| 159 |
+
| |-- observation.images.cam_right_head_rgb
|
| 160 |
+
|
| 161 |
+
| `-- observation.images.cam_right_wrist_rgb
|
| 162 |
+
|
| 163 |
+
|-- info.yaml
|
| 164 |
+
|
| 165 |
+
`-- README.md'
|
| 166 |
+
splits:
|
| 167 |
+
train: 0:274
|
| 168 |
+
features:
|
| 169 |
+
action:
|
| 170 |
+
dtype: float32
|
| 171 |
+
names:
|
| 172 |
+
- right_arm_joint_1_rad
|
| 173 |
+
- right_arm_joint_2_rad
|
| 174 |
+
- right_arm_joint_3_rad
|
| 175 |
+
- right_arm_joint_4_rad
|
| 176 |
+
- right_arm_joint_5_rad
|
| 177 |
+
- right_arm_joint_6_rad
|
| 178 |
+
- right_arm_joint_7_rad
|
| 179 |
+
- right_gripper_open
|
| 180 |
+
- left_arm_joint_1_rad
|
| 181 |
+
- left_arm_joint_2_rad
|
| 182 |
+
- left_arm_joint_3_rad
|
| 183 |
+
- left_arm_joint_4_rad
|
| 184 |
+
- left_arm_joint_5_rad
|
| 185 |
+
- left_arm_joint_6_rad
|
| 186 |
+
- left_arm_joint_7_rad
|
| 187 |
+
- left_gripper_open
|
| 188 |
+
- torso_joint_1_rad
|
| 189 |
+
- torso_joint_2_rad
|
| 190 |
+
- torso_joint_3_rad
|
| 191 |
+
- torso_joint_4_rad
|
| 192 |
+
- torso_joint_5_rad
|
| 193 |
+
- head_joint_1_rad
|
| 194 |
+
- head_joint_2_rad
|
| 195 |
+
- chassis_pos_1
|
| 196 |
+
- chassis_pos_2
|
| 197 |
+
- chassis_pos_3
|
| 198 |
+
- chassis_pos_4
|
| 199 |
+
- chassis_vel_1
|
| 200 |
+
- chassis_vel_2
|
| 201 |
+
- chassis_vel_3
|
| 202 |
+
- chassis_vel_4
|
| 203 |
+
- base_pos_x_m
|
| 204 |
+
- base_pos_y_m
|
| 205 |
+
- base_orient_quat_z
|
| 206 |
+
- base_orient_quat_w
|
| 207 |
+
- base_vel_x_m_s
|
| 208 |
+
- base_vel_y_m_s
|
| 209 |
+
- base_vel_angular_z_rad_s
|
| 210 |
+
shape:
|
| 211 |
+
- 38
|
| 212 |
+
observation.state:
|
| 213 |
+
dtype: float32
|
| 214 |
+
names:
|
| 215 |
+
- right_arm_joint_1_rad
|
| 216 |
+
- right_arm_joint_2_rad
|
| 217 |
+
- right_arm_joint_3_rad
|
| 218 |
+
- right_arm_joint_4_rad
|
| 219 |
+
- right_arm_joint_5_rad
|
| 220 |
+
- right_arm_joint_6_rad
|
| 221 |
+
- right_arm_joint_7_rad
|
| 222 |
+
- right_gripper_open
|
| 223 |
+
- left_arm_joint_1_rad
|
| 224 |
+
- left_arm_joint_2_rad
|
| 225 |
+
- left_arm_joint_3_rad
|
| 226 |
+
- left_arm_joint_4_rad
|
| 227 |
+
- left_arm_joint_5_rad
|
| 228 |
+
- left_arm_joint_6_rad
|
| 229 |
+
- left_arm_joint_7_rad
|
| 230 |
+
- left_gripper_open
|
| 231 |
+
- torso_joint_1_rad
|
| 232 |
+
- torso_joint_2_rad
|
| 233 |
+
- torso_joint_3_rad
|
| 234 |
+
- torso_joint_4_rad
|
| 235 |
+
- torso_joint_5_rad
|
| 236 |
+
- head_joint_1_rad
|
| 237 |
+
- head_joint_2_rad
|
| 238 |
+
- chassis_pos_1
|
| 239 |
+
- chassis_pos_2
|
| 240 |
+
- chassis_pos_3
|
| 241 |
+
- chassis_pos_4
|
| 242 |
+
- chassis_vel_1
|
| 243 |
+
- chassis_vel_2
|
| 244 |
+
- chassis_vel_3
|
| 245 |
+
- chassis_vel_4
|
| 246 |
+
- base_pos_x_m
|
| 247 |
+
- base_pos_y_m
|
| 248 |
+
- base_orient_quat_z
|
| 249 |
+
- base_orient_quat_w
|
| 250 |
+
- base_vel_x_m_s
|
| 251 |
+
- base_vel_y_m_s
|
| 252 |
+
- base_vel_angular_z_rad_s
|
| 253 |
+
shape:
|
| 254 |
+
- 38
|
| 255 |
+
observation.images.cam_right_head_rgb:
|
| 256 |
+
dtype: video
|
| 257 |
+
shape:
|
| 258 |
+
- 720
|
| 259 |
+
- 960
|
| 260 |
+
- 3
|
| 261 |
+
names:
|
| 262 |
+
- height
|
| 263 |
+
- width
|
| 264 |
+
- channels
|
| 265 |
+
info:
|
| 266 |
+
video.fps: 30
|
| 267 |
+
video.height: 720
|
| 268 |
+
video.width: 960
|
| 269 |
+
video.channels: 3
|
| 270 |
+
video.codec: libx264
|
| 271 |
+
video.pix_fmt: yuv420p
|
| 272 |
+
video.is_depth_map: false
|
| 273 |
+
has_audio: false
|
| 274 |
+
observation.images.cam_left_head_rgb:
|
| 275 |
+
dtype: video
|
| 276 |
+
shape:
|
| 277 |
+
- 720
|
| 278 |
+
- 960
|
| 279 |
+
- 3
|
| 280 |
+
names:
|
| 281 |
+
- height
|
| 282 |
+
- width
|
| 283 |
+
- channels
|
| 284 |
+
info:
|
| 285 |
+
video.fps: 30
|
| 286 |
+
video.height: 720
|
| 287 |
+
video.width: 960
|
| 288 |
+
video.channels: 3
|
| 289 |
+
video.codec: libx264
|
| 290 |
+
video.pix_fmt: yuv420p
|
| 291 |
+
video.is_depth_map: false
|
| 292 |
+
has_audio: false
|
| 293 |
+
observation.images.cam_right_wrist_rgb:
|
| 294 |
+
dtype: video
|
| 295 |
+
shape:
|
| 296 |
+
- 720
|
| 297 |
+
- 960
|
| 298 |
+
- 3
|
| 299 |
+
names:
|
| 300 |
+
- height
|
| 301 |
+
- width
|
| 302 |
+
- channels
|
| 303 |
+
info:
|
| 304 |
+
video.fps: 30
|
| 305 |
+
video.height: 720
|
| 306 |
+
video.width: 960
|
| 307 |
+
video.channels: 3
|
| 308 |
+
video.codec: libx264
|
| 309 |
+
video.pix_fmt: yuv420p
|
| 310 |
+
video.is_depth_map: false
|
| 311 |
+
has_audio: false
|
| 312 |
+
observation.images.cam_left_wrist_rgb:
|
| 313 |
+
dtype: video
|
| 314 |
+
shape:
|
| 315 |
+
- 720
|
| 316 |
+
- 960
|
| 317 |
+
- 3
|
| 318 |
+
names:
|
| 319 |
+
- height
|
| 320 |
+
- width
|
| 321 |
+
- channels
|
| 322 |
+
info:
|
| 323 |
+
video.fps: 30
|
| 324 |
+
video.height: 720
|
| 325 |
+
video.width: 960
|
| 326 |
+
video.channels: 3
|
| 327 |
+
video.codec: libx264
|
| 328 |
+
video.pix_fmt: yuv420p
|
| 329 |
+
video.is_depth_map: false
|
| 330 |
+
has_audio: false
|
| 331 |
+
timestamp:
|
| 332 |
+
dtype: float32
|
| 333 |
+
shape:
|
| 334 |
+
- 1
|
| 335 |
+
names: null
|
| 336 |
+
frame_index:
|
| 337 |
+
dtype: int64
|
| 338 |
+
shape:
|
| 339 |
+
- 1
|
| 340 |
+
names: null
|
| 341 |
+
episode_index:
|
| 342 |
+
dtype: int64
|
| 343 |
+
shape:
|
| 344 |
+
- 1
|
| 345 |
+
names: null
|
| 346 |
+
index:
|
| 347 |
+
dtype: int64
|
| 348 |
+
shape:
|
| 349 |
+
- 1
|
| 350 |
+
names: null
|
| 351 |
+
task_index:
|
| 352 |
+
dtype: int64
|
| 353 |
+
shape:
|
| 354 |
+
- 1
|
| 355 |
+
names: null
|
| 356 |
+
gripper_open_scale_state:
|
| 357 |
+
names:
|
| 358 |
+
- left_gripper_open_scale
|
| 359 |
+
- right_gripper_open_scale
|
| 360 |
+
dtype: float64
|
| 361 |
+
shape:
|
| 362 |
+
- 2
|
| 363 |
+
gripper_open_scale_action:
|
| 364 |
+
names:
|
| 365 |
+
- left_gripper_open_scale
|
| 366 |
+
- right_gripper_open_scale
|
| 367 |
+
dtype: float64
|
| 368 |
+
shape:
|
| 369 |
+
- 2
|
| 370 |
+
eef_sim_pose_state:
|
| 371 |
+
names:
|
| 372 |
+
- left_eef_pos_x
|
| 373 |
+
- left_eef_pos_y
|
| 374 |
+
- left_eef_pos_z
|
| 375 |
+
- left_eef_rot_x
|
| 376 |
+
- left_eef_rot_y
|
| 377 |
+
- left_eef_rot_z
|
| 378 |
+
- right_eef_pos_x
|
| 379 |
+
- right_eef_pos_y
|
| 380 |
+
- right_eef_pos_z
|
| 381 |
+
- right_eef_rot_x
|
| 382 |
+
- right_eef_rot_y
|
| 383 |
+
- right_eef_rot_z
|
| 384 |
+
dtype: float32
|
| 385 |
+
shape:
|
| 386 |
+
- 12
|
| 387 |
+
eef_sim_pose_action:
|
| 388 |
+
names:
|
| 389 |
+
- left_eef_pos_x
|
| 390 |
+
- left_eef_pos_y
|
| 391 |
+
- left_eef_pos_z
|
| 392 |
+
- left_eef_rot_x
|
| 393 |
+
- left_eef_rot_y
|
| 394 |
+
- left_eef_rot_z
|
| 395 |
+
- right_eef_pos_x
|
| 396 |
+
- right_eef_pos_y
|
| 397 |
+
- right_eef_pos_z
|
| 398 |
+
- right_eef_rot_x
|
| 399 |
+
- right_eef_rot_y
|
| 400 |
+
- right_eef_rot_z
|
| 401 |
+
dtype: float32
|
| 402 |
+
shape:
|
| 403 |
+
- 12
|
| 404 |
+
eef_direction_state:
|
| 405 |
+
names:
|
| 406 |
+
- left_eef_direction
|
| 407 |
+
- right_eef_direction
|
| 408 |
+
dtype: int32
|
| 409 |
+
shape:
|
| 410 |
+
- 2
|
| 411 |
+
eef_direction_action:
|
| 412 |
+
names:
|
| 413 |
+
- left_eef_direction
|
| 414 |
+
- right_eef_direction
|
| 415 |
+
dtype: int32
|
| 416 |
+
shape:
|
| 417 |
+
- 2
|
| 418 |
+
eef_velocity_state:
|
| 419 |
+
names:
|
| 420 |
+
- left_eef_velocity
|
| 421 |
+
- right_eef_velocity
|
| 422 |
+
dtype: int32
|
| 423 |
+
shape:
|
| 424 |
+
- 2
|
| 425 |
+
eef_velocity_action:
|
| 426 |
+
names:
|
| 427 |
+
- left_eef_velocity
|
| 428 |
+
- right_eef_velocity
|
| 429 |
+
dtype: int32
|
| 430 |
+
shape:
|
| 431 |
+
- 2
|
| 432 |
+
eef_acc_mag_state:
|
| 433 |
+
names:
|
| 434 |
+
- left_eef_acc_mag
|
| 435 |
+
- right_eef_acc_mag
|
| 436 |
+
dtype: int32
|
| 437 |
+
shape:
|
| 438 |
+
- 2
|
| 439 |
+
eef_acc_mag_action:
|
| 440 |
+
names:
|
| 441 |
+
- left_eef_acc_mag
|
| 442 |
+
- right_eef_acc_mag
|
| 443 |
+
dtype: int32
|
| 444 |
+
shape:
|
| 445 |
+
- 2
|
| 446 |
+
gripper_mode_state:
|
| 447 |
+
names:
|
| 448 |
+
- left_gripper_mode
|
| 449 |
+
- right_gripper_mode
|
| 450 |
+
dtype: int32
|
| 451 |
+
shape:
|
| 452 |
+
- 2
|
| 453 |
+
gripper_mode_action:
|
| 454 |
+
names:
|
| 455 |
+
- left_gripper_mode
|
| 456 |
+
- right_gripper_mode
|
| 457 |
+
dtype: int32
|
| 458 |
+
shape:
|
| 459 |
+
- 2
|
| 460 |
+
gripper_activity_state:
|
| 461 |
+
names:
|
| 462 |
+
- left_gripper_activity
|
| 463 |
+
- right_gripper_activity
|
| 464 |
+
dtype: int32
|
| 465 |
+
shape:
|
| 466 |
+
- 2
|
| 467 |
+
gripper_activity_action:
|
| 468 |
+
names:
|
| 469 |
+
- left_gripper_activity
|
| 470 |
+
- right_gripper_activity
|
| 471 |
+
dtype: int32
|
| 472 |
+
shape:
|
| 473 |
+
- 2
|
| 474 |
+
authors:
|
| 475 |
+
contributed_by:
|
| 476 |
+
- name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
|
| 477 |
+
dataset_description: This dataset uses an extended format based on LeRobot and is
|
| 478 |
+
fully compatible with LeRobot.
|
| 479 |
+
homepage: https://flagopen.github.io/RoboCOIN/
|
| 480 |
+
paper: https://arxiv.org/abs/2511.17441
|
| 481 |
+
repository: https://github.com/FlagOpen/RoboCOIN
|
| 482 |
+
contact_info: For questions, issues, or feedback regarding this dataset, please contact
|
| 483 |
+
us.
|
| 484 |
+
support_info: For technical support, please open an issue on our GitHub repository.
|
| 485 |
+
license_details: apache-2.0
|
| 486 |
+
citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\
|
| 487 |
+
\ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\
|
| 488 |
+
\ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
|
| 489 |
+
\ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
|
| 490 |
+
\ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
|
| 491 |
+
\ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
|
| 492 |
+
\ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
|
| 493 |
+
\ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
|
| 494 |
+
\ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
|
| 495 |
+
\ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
|
| 496 |
+
\ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
|
| 497 |
+
\ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
|
| 498 |
+
\ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
|
| 499 |
+
\ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
|
| 500 |
+
\ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\
|
| 501 |
+
\ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n"
|
| 502 |
+
additional_citations: 'If you use this dataset, please also consider citing:
|
| 503 |
+
|
| 504 |
+
LeRobot Framework: https://github.com/huggingface/lerobot
|
| 505 |
+
|
| 506 |
+
'
|
| 507 |
+
version_info: Initial Release
|
| 508 |
+
data_path: data/chunk-{id}/episode_{id}.parquet
|
| 509 |
+
video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
|
| 510 |
+
video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4
|
dataset_info/Galbot_G1_organize_table.yaml
ADDED
|
@@ -0,0 +1,516 @@
|
|
|
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|
|
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|
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|
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|
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|
|
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|
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|
|
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|
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|
|
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|
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|
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|
|
|
|
|
|
|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
task_categories:
|
| 2 |
+
- robotics
|
| 3 |
+
language:
|
| 4 |
+
- en
|
| 5 |
+
tags:
|
| 6 |
+
- RoboCOIN
|
| 7 |
+
- LeRobot
|
| 8 |
+
license: apache-2.0
|
| 9 |
+
configs:
|
| 10 |
+
- config_name: default
|
| 11 |
+
data_files: data/chunk-{id}/episode_{id}.parquet
|
| 12 |
+
extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
|
| 13 |
+
in your research/publications—see the "Citation" section for details. You agree
|
| 14 |
+
to not use the dataset to conduct experiments that cause harm to human subjects.
|
| 15 |
+
extra_gated_fields:
|
| 16 |
+
Company/Organization:
|
| 17 |
+
type: text
|
| 18 |
+
description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
|
| 19 |
+
Country:
|
| 20 |
+
type: country
|
| 21 |
+
description: e.g., "Germany", "China", "United States"
|
| 22 |
+
codebase_version: v2.1
|
| 23 |
+
dataset_name: Galbot_G1_organize_table
|
| 24 |
+
dataset_uuid: 29afef4c-98d4-49d5-a3e2-231eef867c98
|
| 25 |
+
scene_type:
|
| 26 |
+
level1: Household
|
| 27 |
+
level2: Study Room
|
| 28 |
+
level3: null
|
| 29 |
+
level4: null
|
| 30 |
+
level5: null
|
| 31 |
+
env_type: real_world
|
| 32 |
+
objects:
|
| 33 |
+
- id: laptop
|
| 34 |
+
name: laptop
|
| 35 |
+
color: white
|
| 36 |
+
anchor_policy: static
|
| 37 |
+
- id: water_bottle
|
| 38 |
+
name: water bottle
|
| 39 |
+
color: transparent
|
| 40 |
+
anchor_policy: static
|
| 41 |
+
- id: ballpoint_pen
|
| 42 |
+
name: ballpoint pen
|
| 43 |
+
color: blue
|
| 44 |
+
anchor_policy: static
|
| 45 |
+
- id: toy_car
|
| 46 |
+
name: toy car
|
| 47 |
+
color: green
|
| 48 |
+
anchor_policy: static
|
| 49 |
+
- id: trash_can
|
| 50 |
+
name: trash can
|
| 51 |
+
color: black
|
| 52 |
+
anchor_policy: static
|
| 53 |
+
- id: fountain_pen
|
| 54 |
+
name: fountain pen
|
| 55 |
+
color: black
|
| 56 |
+
anchor_policy: static
|
| 57 |
+
- id: prawn_cracker
|
| 58 |
+
name: prawn cracker
|
| 59 |
+
color: none
|
| 60 |
+
anchor_policy: static
|
| 61 |
+
- id: table
|
| 62 |
+
name: table
|
| 63 |
+
color: white
|
| 64 |
+
anchor_policy: static
|
| 65 |
+
task_operation_type: mobile_dual_arm
|
| 66 |
+
task_instruction: Organize the objects on the table.
|
| 67 |
+
sub_tasks:
|
| 68 |
+
- Organize the objects on the table.
|
| 69 |
+
atomic_actions:
|
| 70 |
+
- move
|
| 71 |
+
- grasp
|
| 72 |
+
- place
|
| 73 |
+
- close
|
| 74 |
+
robot_name: Galbot_G1
|
| 75 |
+
end_effector_type: two_finger_end_effector
|
| 76 |
+
tele_type: master_arm
|
| 77 |
+
sensor_list:
|
| 78 |
+
- cam_right_head_rgb
|
| 79 |
+
- cam_left_head_rgb
|
| 80 |
+
- cam_right_wrist_rgb
|
| 81 |
+
- cam_left_wrist_rgb
|
| 82 |
+
came_info:
|
| 83 |
+
cam_right_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 84 |
+
pix_fmt=yuv420p
|
| 85 |
+
cam_left_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 86 |
+
pix_fmt=yuv420p
|
| 87 |
+
cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 88 |
+
pix_fmt=yuv420p
|
| 89 |
+
cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 90 |
+
pix_fmt=yuv420p
|
| 91 |
+
depth_enabled: false
|
| 92 |
+
coordinate_definition: right-hand-frame
|
| 93 |
+
joint_rotation_dim: radian
|
| 94 |
+
end_rotation_dim: radian
|
| 95 |
+
end_translation_dim: meter
|
| 96 |
+
annotations:
|
| 97 |
+
- eef_acc_mag_annotation.jsonl
|
| 98 |
+
- eef_direction_annotation.jsonl
|
| 99 |
+
- eef_velocity_annotation.jsonl
|
| 100 |
+
- gripper_activity_annotation.jsonl
|
| 101 |
+
- gripper_mode_annotation.jsonl
|
| 102 |
+
statistics:
|
| 103 |
+
total_episodes: 200
|
| 104 |
+
total_frames: 322419
|
| 105 |
+
fps: 30
|
| 106 |
+
total_tasks: 1
|
| 107 |
+
total_videos: 800
|
| 108 |
+
total_chunks: 1
|
| 109 |
+
chunks_size: 10000
|
| 110 |
+
state_dim: 31
|
| 111 |
+
action_dim: 31
|
| 112 |
+
camera_views: 4
|
| 113 |
+
dataset_size: 12.31 GB
|
| 114 |
+
frame_num: 322419
|
| 115 |
+
frame_range: 1M
|
| 116 |
+
dataset_size: 12.31 GB
|
| 117 |
+
data_structure: 'Galbot_G1_organize_table_0_qced_hardlink/
|
| 118 |
+
|
| 119 |
+
|-- annotations
|
| 120 |
+
|
| 121 |
+
| |-- eef_acc_mag_annotation.jsonl
|
| 122 |
+
|
| 123 |
+
| |-- eef_direction_annotation.jsonl
|
| 124 |
+
|
| 125 |
+
| |-- eef_velocity_annotation.jsonl
|
| 126 |
+
|
| 127 |
+
| |-- gripper_activity_annotation.jsonl
|
| 128 |
+
|
| 129 |
+
| `-- gripper_mode_annotation.jsonl
|
| 130 |
+
|
| 131 |
+
|-- data
|
| 132 |
+
|
| 133 |
+
| `-- chunk-000
|
| 134 |
+
|
| 135 |
+
| |-- episode_000000.parquet
|
| 136 |
+
|
| 137 |
+
| |-- episode_000001.parquet
|
| 138 |
+
|
| 139 |
+
| |-- episode_000002.parquet
|
| 140 |
+
|
| 141 |
+
| |-- episode_000003.parquet
|
| 142 |
+
|
| 143 |
+
| |-- episode_000004.parquet
|
| 144 |
+
|
| 145 |
+
| |-- episode_000005.parquet
|
| 146 |
+
|
| 147 |
+
| |-- episode_000006.parquet
|
| 148 |
+
|
| 149 |
+
| |-- episode_000007.parquet
|
| 150 |
+
|
| 151 |
+
| |-- episode_000008.parquet
|
| 152 |
+
|
| 153 |
+
| |-- episode_000009.parquet
|
| 154 |
+
|
| 155 |
+
| |-- episode_000010.parquet
|
| 156 |
+
|
| 157 |
+
| `-- episode_000011.parquet
|
| 158 |
+
|
| 159 |
+
| `-- ... (188 more entries)
|
| 160 |
+
|
| 161 |
+
|-- meta
|
| 162 |
+
|
| 163 |
+
| |-- episodes.jsonl
|
| 164 |
+
|
| 165 |
+
| |-- episodes_stats.jsonl
|
| 166 |
+
|
| 167 |
+
| |-- info.json
|
| 168 |
+
|
| 169 |
+
| `-- tasks.jsonl
|
| 170 |
+
|
| 171 |
+
|-- videos
|
| 172 |
+
|
| 173 |
+
| `-- chunk-000
|
| 174 |
+
|
| 175 |
+
| |-- observation.images.cam_left_head_rgb
|
| 176 |
+
|
| 177 |
+
| |-- observation.images.cam_left_wrist_rgb
|
| 178 |
+
|
| 179 |
+
| |-- observation.images.cam_right_head_rgb
|
| 180 |
+
|
| 181 |
+
| `-- observation.images.cam_right_wrist_rgb
|
| 182 |
+
|
| 183 |
+
|-- info.yaml
|
| 184 |
+
|
| 185 |
+
`-- README.md'
|
| 186 |
+
splits:
|
| 187 |
+
train: 0:199
|
| 188 |
+
features:
|
| 189 |
+
action:
|
| 190 |
+
dtype: float32
|
| 191 |
+
names:
|
| 192 |
+
- right_arm_joint_1_rad
|
| 193 |
+
- right_arm_joint_2_rad
|
| 194 |
+
- right_arm_joint_3_rad
|
| 195 |
+
- right_arm_joint_4_rad
|
| 196 |
+
- right_arm_joint_5_rad
|
| 197 |
+
- right_arm_joint_6_rad
|
| 198 |
+
- right_arm_joint_7_rad
|
| 199 |
+
- right_gripper_open
|
| 200 |
+
- left_arm_joint_1_rad
|
| 201 |
+
- left_arm_joint_2_rad
|
| 202 |
+
- left_arm_joint_3_rad
|
| 203 |
+
- left_arm_joint_4_rad
|
| 204 |
+
- left_arm_joint_5_rad
|
| 205 |
+
- left_arm_joint_6_rad
|
| 206 |
+
- left_arm_joint_7_rad
|
| 207 |
+
- left_gripper_open
|
| 208 |
+
- torso_joint_1_rad
|
| 209 |
+
- torso_joint_2_rad
|
| 210 |
+
- torso_joint_3_rad
|
| 211 |
+
- torso_joint_4_rad
|
| 212 |
+
- torso_joint_5_rad
|
| 213 |
+
- head_joint_1_rad
|
| 214 |
+
- head_joint_2_rad
|
| 215 |
+
- chassis_pos_1
|
| 216 |
+
- chassis_pos_2
|
| 217 |
+
- chassis_pos_3
|
| 218 |
+
- chassis_pos_4
|
| 219 |
+
- chassis_vel_1
|
| 220 |
+
- chassis_vel_2
|
| 221 |
+
- chassis_vel_3
|
| 222 |
+
- chassis_vel_4
|
| 223 |
+
shape:
|
| 224 |
+
- 31
|
| 225 |
+
observation.state:
|
| 226 |
+
dtype: float32
|
| 227 |
+
names:
|
| 228 |
+
- right_arm_joint_1_rad
|
| 229 |
+
- right_arm_joint_2_rad
|
| 230 |
+
- right_arm_joint_3_rad
|
| 231 |
+
- right_arm_joint_4_rad
|
| 232 |
+
- right_arm_joint_5_rad
|
| 233 |
+
- right_arm_joint_6_rad
|
| 234 |
+
- right_arm_joint_7_rad
|
| 235 |
+
- right_gripper_open
|
| 236 |
+
- left_arm_joint_1_rad
|
| 237 |
+
- left_arm_joint_2_rad
|
| 238 |
+
- left_arm_joint_3_rad
|
| 239 |
+
- left_arm_joint_4_rad
|
| 240 |
+
- left_arm_joint_5_rad
|
| 241 |
+
- left_arm_joint_6_rad
|
| 242 |
+
- left_arm_joint_7_rad
|
| 243 |
+
- left_gripper_open
|
| 244 |
+
- torso_joint_1_rad
|
| 245 |
+
- torso_joint_2_rad
|
| 246 |
+
- torso_joint_3_rad
|
| 247 |
+
- torso_joint_4_rad
|
| 248 |
+
- torso_joint_5_rad
|
| 249 |
+
- head_joint_1_rad
|
| 250 |
+
- head_joint_2_rad
|
| 251 |
+
- chassis_pos_1
|
| 252 |
+
- chassis_pos_2
|
| 253 |
+
- chassis_pos_3
|
| 254 |
+
- chassis_pos_4
|
| 255 |
+
- chassis_vel_1
|
| 256 |
+
- chassis_vel_2
|
| 257 |
+
- chassis_vel_3
|
| 258 |
+
- chassis_vel_4
|
| 259 |
+
shape:
|
| 260 |
+
- 31
|
| 261 |
+
observation.images.cam_right_head_rgb:
|
| 262 |
+
dtype: video
|
| 263 |
+
shape:
|
| 264 |
+
- 480
|
| 265 |
+
- 640
|
| 266 |
+
- 3
|
| 267 |
+
names:
|
| 268 |
+
- height
|
| 269 |
+
- width
|
| 270 |
+
- channels
|
| 271 |
+
info:
|
| 272 |
+
video.fps: 30
|
| 273 |
+
video.height: 480
|
| 274 |
+
video.width: 640
|
| 275 |
+
video.channels: 3
|
| 276 |
+
video.codec: libx264
|
| 277 |
+
video.pix_fmt: yuv420p
|
| 278 |
+
video.is_depth_map: false
|
| 279 |
+
has_audio: false
|
| 280 |
+
observation.images.cam_left_head_rgb:
|
| 281 |
+
dtype: video
|
| 282 |
+
shape:
|
| 283 |
+
- 480
|
| 284 |
+
- 640
|
| 285 |
+
- 3
|
| 286 |
+
names:
|
| 287 |
+
- height
|
| 288 |
+
- width
|
| 289 |
+
- channels
|
| 290 |
+
info:
|
| 291 |
+
video.fps: 30
|
| 292 |
+
video.height: 480
|
| 293 |
+
video.width: 640
|
| 294 |
+
video.channels: 3
|
| 295 |
+
video.codec: libx264
|
| 296 |
+
video.pix_fmt: yuv420p
|
| 297 |
+
video.is_depth_map: false
|
| 298 |
+
has_audio: false
|
| 299 |
+
observation.images.cam_right_wrist_rgb:
|
| 300 |
+
dtype: video
|
| 301 |
+
shape:
|
| 302 |
+
- 480
|
| 303 |
+
- 640
|
| 304 |
+
- 3
|
| 305 |
+
names:
|
| 306 |
+
- height
|
| 307 |
+
- width
|
| 308 |
+
- channels
|
| 309 |
+
info:
|
| 310 |
+
video.fps: 30
|
| 311 |
+
video.height: 480
|
| 312 |
+
video.width: 640
|
| 313 |
+
video.channels: 3
|
| 314 |
+
video.codec: libx264
|
| 315 |
+
video.pix_fmt: yuv420p
|
| 316 |
+
video.is_depth_map: false
|
| 317 |
+
has_audio: false
|
| 318 |
+
observation.images.cam_left_wrist_rgb:
|
| 319 |
+
dtype: video
|
| 320 |
+
shape:
|
| 321 |
+
- 480
|
| 322 |
+
- 640
|
| 323 |
+
- 3
|
| 324 |
+
names:
|
| 325 |
+
- height
|
| 326 |
+
- width
|
| 327 |
+
- channels
|
| 328 |
+
info:
|
| 329 |
+
video.fps: 30
|
| 330 |
+
video.height: 480
|
| 331 |
+
video.width: 640
|
| 332 |
+
video.channels: 3
|
| 333 |
+
video.codec: libx264
|
| 334 |
+
video.pix_fmt: yuv420p
|
| 335 |
+
video.is_depth_map: false
|
| 336 |
+
has_audio: false
|
| 337 |
+
timestamp:
|
| 338 |
+
dtype: float32
|
| 339 |
+
shape:
|
| 340 |
+
- 1
|
| 341 |
+
names: null
|
| 342 |
+
frame_index:
|
| 343 |
+
dtype: int64
|
| 344 |
+
shape:
|
| 345 |
+
- 1
|
| 346 |
+
names: null
|
| 347 |
+
episode_index:
|
| 348 |
+
dtype: int64
|
| 349 |
+
shape:
|
| 350 |
+
- 1
|
| 351 |
+
names: null
|
| 352 |
+
index:
|
| 353 |
+
dtype: int64
|
| 354 |
+
shape:
|
| 355 |
+
- 1
|
| 356 |
+
names: null
|
| 357 |
+
task_index:
|
| 358 |
+
dtype: int64
|
| 359 |
+
shape:
|
| 360 |
+
- 1
|
| 361 |
+
names: null
|
| 362 |
+
gripper_open_scale_state:
|
| 363 |
+
names:
|
| 364 |
+
- left_gripper_open_scale
|
| 365 |
+
- right_gripper_open_scale
|
| 366 |
+
dtype: float64
|
| 367 |
+
shape:
|
| 368 |
+
- 2
|
| 369 |
+
gripper_open_scale_action:
|
| 370 |
+
names:
|
| 371 |
+
- left_gripper_open_scale
|
| 372 |
+
- right_gripper_open_scale
|
| 373 |
+
dtype: float64
|
| 374 |
+
shape:
|
| 375 |
+
- 2
|
| 376 |
+
eef_sim_pose_state:
|
| 377 |
+
names:
|
| 378 |
+
- left_eef_pos_x
|
| 379 |
+
- left_eef_pos_y
|
| 380 |
+
- left_eef_pos_z
|
| 381 |
+
- left_eef_rot_x
|
| 382 |
+
- left_eef_rot_y
|
| 383 |
+
- left_eef_rot_z
|
| 384 |
+
- right_eef_pos_x
|
| 385 |
+
- right_eef_pos_y
|
| 386 |
+
- right_eef_pos_z
|
| 387 |
+
- right_eef_rot_x
|
| 388 |
+
- right_eef_rot_y
|
| 389 |
+
- right_eef_rot_z
|
| 390 |
+
dtype: float32
|
| 391 |
+
shape:
|
| 392 |
+
- 12
|
| 393 |
+
eef_sim_pose_action:
|
| 394 |
+
names:
|
| 395 |
+
- left_eef_pos_x
|
| 396 |
+
- left_eef_pos_y
|
| 397 |
+
- left_eef_pos_z
|
| 398 |
+
- left_eef_rot_x
|
| 399 |
+
- left_eef_rot_y
|
| 400 |
+
- left_eef_rot_z
|
| 401 |
+
- right_eef_pos_x
|
| 402 |
+
- right_eef_pos_y
|
| 403 |
+
- right_eef_pos_z
|
| 404 |
+
- right_eef_rot_x
|
| 405 |
+
- right_eef_rot_y
|
| 406 |
+
- right_eef_rot_z
|
| 407 |
+
dtype: float32
|
| 408 |
+
shape:
|
| 409 |
+
- 12
|
| 410 |
+
eef_direction_state:
|
| 411 |
+
names:
|
| 412 |
+
- left_eef_direction
|
| 413 |
+
- right_eef_direction
|
| 414 |
+
dtype: int32
|
| 415 |
+
shape:
|
| 416 |
+
- 2
|
| 417 |
+
eef_direction_action:
|
| 418 |
+
names:
|
| 419 |
+
- left_eef_direction
|
| 420 |
+
- right_eef_direction
|
| 421 |
+
dtype: int32
|
| 422 |
+
shape:
|
| 423 |
+
- 2
|
| 424 |
+
eef_velocity_state:
|
| 425 |
+
names:
|
| 426 |
+
- left_eef_velocity
|
| 427 |
+
- right_eef_velocity
|
| 428 |
+
dtype: int32
|
| 429 |
+
shape:
|
| 430 |
+
- 2
|
| 431 |
+
eef_velocity_action:
|
| 432 |
+
names:
|
| 433 |
+
- left_eef_velocity
|
| 434 |
+
- right_eef_velocity
|
| 435 |
+
dtype: int32
|
| 436 |
+
shape:
|
| 437 |
+
- 2
|
| 438 |
+
eef_acc_mag_state:
|
| 439 |
+
names:
|
| 440 |
+
- left_eef_acc_mag
|
| 441 |
+
- right_eef_acc_mag
|
| 442 |
+
dtype: int32
|
| 443 |
+
shape:
|
| 444 |
+
- 2
|
| 445 |
+
eef_acc_mag_action:
|
| 446 |
+
names:
|
| 447 |
+
- left_eef_acc_mag
|
| 448 |
+
- right_eef_acc_mag
|
| 449 |
+
dtype: int32
|
| 450 |
+
shape:
|
| 451 |
+
- 2
|
| 452 |
+
gripper_mode_state:
|
| 453 |
+
names:
|
| 454 |
+
- left_gripper_mode
|
| 455 |
+
- right_gripper_mode
|
| 456 |
+
dtype: int32
|
| 457 |
+
shape:
|
| 458 |
+
- 2
|
| 459 |
+
gripper_mode_action:
|
| 460 |
+
names:
|
| 461 |
+
- left_gripper_mode
|
| 462 |
+
- right_gripper_mode
|
| 463 |
+
dtype: int32
|
| 464 |
+
shape:
|
| 465 |
+
- 2
|
| 466 |
+
gripper_activity_state:
|
| 467 |
+
names:
|
| 468 |
+
- left_gripper_activity
|
| 469 |
+
- right_gripper_activity
|
| 470 |
+
dtype: int32
|
| 471 |
+
shape:
|
| 472 |
+
- 2
|
| 473 |
+
gripper_activity_action:
|
| 474 |
+
names:
|
| 475 |
+
- left_gripper_activity
|
| 476 |
+
- right_gripper_activity
|
| 477 |
+
dtype: int32
|
| 478 |
+
shape:
|
| 479 |
+
- 2
|
| 480 |
+
authors:
|
| 481 |
+
contributed_by:
|
| 482 |
+
- name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
|
| 483 |
+
dataset_description: This dataset uses an extended format based on LeRobot and is
|
| 484 |
+
fully compatible with LeRobot.
|
| 485 |
+
homepage: https://flagopen.github.io/RoboCOIN/
|
| 486 |
+
paper: https://arxiv.org/abs/2511.17441
|
| 487 |
+
repository: https://github.com/FlagOpen/RoboCOIN
|
| 488 |
+
contact_info: For questions, issues, or feedback regarding this dataset, please contact
|
| 489 |
+
us.
|
| 490 |
+
support_info: For technical support, please open an issue on our GitHub repository.
|
| 491 |
+
license_details: apache-2.0
|
| 492 |
+
citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\
|
| 493 |
+
\ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\
|
| 494 |
+
\ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
|
| 495 |
+
\ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
|
| 496 |
+
\ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
|
| 497 |
+
\ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
|
| 498 |
+
\ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
|
| 499 |
+
\ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
|
| 500 |
+
\ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
|
| 501 |
+
\ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
|
| 502 |
+
\ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
|
| 503 |
+
\ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
|
| 504 |
+
\ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
|
| 505 |
+
\ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
|
| 506 |
+
\ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\
|
| 507 |
+
\ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n"
|
| 508 |
+
additional_citations: 'If you use this dataset, please also consider citing:
|
| 509 |
+
|
| 510 |
+
LeRobot Framework: https://github.com/huggingface/lerobot
|
| 511 |
+
|
| 512 |
+
'
|
| 513 |
+
version_info: Initial Release
|
| 514 |
+
data_path: data/chunk-{id}/episode_{id}.parquet
|
| 515 |
+
video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
|
| 516 |
+
video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4
|
dataset_info/Galbot_G1_pick_floor_trash.yaml
ADDED
|
@@ -0,0 +1,509 @@
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|
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|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
task_categories:
|
| 2 |
+
- robotics
|
| 3 |
+
language:
|
| 4 |
+
- en
|
| 5 |
+
tags:
|
| 6 |
+
- RoboCOIN
|
| 7 |
+
- LeRobot
|
| 8 |
+
license: apache-2.0
|
| 9 |
+
configs:
|
| 10 |
+
- config_name: default
|
| 11 |
+
data_files: data/chunk-{id}/episode_{id}.parquet
|
| 12 |
+
extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
|
| 13 |
+
in your research/publications—see the "Citation" section for details. You agree
|
| 14 |
+
to not use the dataset to conduct experiments that cause harm to human subjects.
|
| 15 |
+
extra_gated_fields:
|
| 16 |
+
Company/Organization:
|
| 17 |
+
type: text
|
| 18 |
+
description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
|
| 19 |
+
Country:
|
| 20 |
+
type: country
|
| 21 |
+
description: e.g., "Germany", "China", "United States"
|
| 22 |
+
codebase_version: v2.1
|
| 23 |
+
dataset_name: Galbot_G1_pick_floor_trash
|
| 24 |
+
dataset_uuid: bbabfbb9-101b-41f7-a3a3-b109cadb5ad4
|
| 25 |
+
scene_type:
|
| 26 |
+
level1: Household
|
| 27 |
+
level2: Living Room
|
| 28 |
+
level3: null
|
| 29 |
+
level4: null
|
| 30 |
+
level5: null
|
| 31 |
+
env_type: real_world
|
| 32 |
+
objects:
|
| 33 |
+
- id: trash_can
|
| 34 |
+
name: trash can
|
| 35 |
+
color: black
|
| 36 |
+
anchor_policy: static
|
| 37 |
+
- id: tissue_paper
|
| 38 |
+
name: tissue paper
|
| 39 |
+
color: white
|
| 40 |
+
anchor_policy: static
|
| 41 |
+
- id: canned_beverages
|
| 42 |
+
name: canned beverages
|
| 43 |
+
color: black
|
| 44 |
+
anchor_policy: static
|
| 45 |
+
- id: '1'
|
| 46 |
+
name: tissue paper
|
| 47 |
+
color: white
|
| 48 |
+
anchor_policy: static
|
| 49 |
+
- id: water_bottle
|
| 50 |
+
name: water bottle
|
| 51 |
+
color: transparent
|
| 52 |
+
anchor_policy: static
|
| 53 |
+
- id: floor_mat
|
| 54 |
+
name: floor mat
|
| 55 |
+
color: brown
|
| 56 |
+
anchor_policy: static
|
| 57 |
+
task_operation_type: mobile_dual_arm
|
| 58 |
+
task_instruction: Move to the front of the table and pick up the trash from the floor,
|
| 59 |
+
then place it into the trash bin.
|
| 60 |
+
sub_tasks:
|
| 61 |
+
- Move to the front of the table and pick up the trash from the floor, then place
|
| 62 |
+
it into the trash bin.
|
| 63 |
+
atomic_actions:
|
| 64 |
+
- move
|
| 65 |
+
- grasp
|
| 66 |
+
- place
|
| 67 |
+
robot_name: Galbot_G1
|
| 68 |
+
end_effector_type: two_finger_end_effector
|
| 69 |
+
tele_type: master_arm
|
| 70 |
+
sensor_list:
|
| 71 |
+
- cam_right_head_rgb
|
| 72 |
+
- cam_left_head_rgb
|
| 73 |
+
- cam_right_wrist_rgb
|
| 74 |
+
- cam_left_wrist_rgb
|
| 75 |
+
came_info:
|
| 76 |
+
cam_right_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 77 |
+
pix_fmt=yuv420p
|
| 78 |
+
cam_left_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 79 |
+
pix_fmt=yuv420p
|
| 80 |
+
cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 81 |
+
pix_fmt=yuv420p
|
| 82 |
+
cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 83 |
+
pix_fmt=yuv420p
|
| 84 |
+
depth_enabled: false
|
| 85 |
+
coordinate_definition: right-hand-frame
|
| 86 |
+
joint_rotation_dim: radian
|
| 87 |
+
end_rotation_dim: radian
|
| 88 |
+
end_translation_dim: meter
|
| 89 |
+
annotations:
|
| 90 |
+
- eef_acc_mag_annotation.jsonl
|
| 91 |
+
- eef_direction_annotation.jsonl
|
| 92 |
+
- eef_velocity_annotation.jsonl
|
| 93 |
+
- gripper_activity_annotation.jsonl
|
| 94 |
+
- gripper_mode_annotation.jsonl
|
| 95 |
+
statistics:
|
| 96 |
+
total_episodes: 188
|
| 97 |
+
total_frames: 374177
|
| 98 |
+
fps: 30
|
| 99 |
+
total_tasks: 1
|
| 100 |
+
total_videos: 752
|
| 101 |
+
total_chunks: 1
|
| 102 |
+
chunks_size: 10000
|
| 103 |
+
state_dim: 31
|
| 104 |
+
action_dim: 31
|
| 105 |
+
camera_views: 4
|
| 106 |
+
dataset_size: 22.77 GB
|
| 107 |
+
frame_num: 374177
|
| 108 |
+
frame_range: 1M
|
| 109 |
+
dataset_size: 22.77 GB
|
| 110 |
+
data_structure: 'Galbot_G1_pick_floor_trash_0_qced_hardlink/
|
| 111 |
+
|
| 112 |
+
|-- annotations
|
| 113 |
+
|
| 114 |
+
| |-- eef_acc_mag_annotation.jsonl
|
| 115 |
+
|
| 116 |
+
| |-- eef_direction_annotation.jsonl
|
| 117 |
+
|
| 118 |
+
| |-- eef_velocity_annotation.jsonl
|
| 119 |
+
|
| 120 |
+
| |-- gripper_activity_annotation.jsonl
|
| 121 |
+
|
| 122 |
+
| `-- gripper_mode_annotation.jsonl
|
| 123 |
+
|
| 124 |
+
|-- data
|
| 125 |
+
|
| 126 |
+
| `-- chunk-000
|
| 127 |
+
|
| 128 |
+
| |-- episode_000000.parquet
|
| 129 |
+
|
| 130 |
+
| |-- episode_000001.parquet
|
| 131 |
+
|
| 132 |
+
| |-- episode_000002.parquet
|
| 133 |
+
|
| 134 |
+
| |-- episode_000003.parquet
|
| 135 |
+
|
| 136 |
+
| |-- episode_000004.parquet
|
| 137 |
+
|
| 138 |
+
| |-- episode_000005.parquet
|
| 139 |
+
|
| 140 |
+
| |-- episode_000006.parquet
|
| 141 |
+
|
| 142 |
+
| |-- episode_000007.parquet
|
| 143 |
+
|
| 144 |
+
| |-- episode_000008.parquet
|
| 145 |
+
|
| 146 |
+
| |-- episode_000009.parquet
|
| 147 |
+
|
| 148 |
+
| |-- episode_000010.parquet
|
| 149 |
+
|
| 150 |
+
| `-- episode_000011.parquet
|
| 151 |
+
|
| 152 |
+
| `-- ... (176 more entries)
|
| 153 |
+
|
| 154 |
+
|-- meta
|
| 155 |
+
|
| 156 |
+
| |-- episodes.jsonl
|
| 157 |
+
|
| 158 |
+
| |-- episodes_stats.jsonl
|
| 159 |
+
|
| 160 |
+
| |-- info.json
|
| 161 |
+
|
| 162 |
+
| `-- tasks.jsonl
|
| 163 |
+
|
| 164 |
+
|-- videos
|
| 165 |
+
|
| 166 |
+
| `-- chunk-000
|
| 167 |
+
|
| 168 |
+
| |-- observation.images.cam_left_head_rgb
|
| 169 |
+
|
| 170 |
+
| |-- observation.images.cam_left_wrist_rgb
|
| 171 |
+
|
| 172 |
+
| |-- observation.images.cam_right_head_rgb
|
| 173 |
+
|
| 174 |
+
| `-- observation.images.cam_right_wrist_rgb
|
| 175 |
+
|
| 176 |
+
|-- info.yaml
|
| 177 |
+
|
| 178 |
+
`-- README.md'
|
| 179 |
+
splits:
|
| 180 |
+
train: 0:187
|
| 181 |
+
features:
|
| 182 |
+
action:
|
| 183 |
+
dtype: float32
|
| 184 |
+
names:
|
| 185 |
+
- right_arm_joint_1_rad
|
| 186 |
+
- right_arm_joint_2_rad
|
| 187 |
+
- right_arm_joint_3_rad
|
| 188 |
+
- right_arm_joint_4_rad
|
| 189 |
+
- right_arm_joint_5_rad
|
| 190 |
+
- right_arm_joint_6_rad
|
| 191 |
+
- right_arm_joint_7_rad
|
| 192 |
+
- right_gripper_open
|
| 193 |
+
- left_arm_joint_1_rad
|
| 194 |
+
- left_arm_joint_2_rad
|
| 195 |
+
- left_arm_joint_3_rad
|
| 196 |
+
- left_arm_joint_4_rad
|
| 197 |
+
- left_arm_joint_5_rad
|
| 198 |
+
- left_arm_joint_6_rad
|
| 199 |
+
- left_arm_joint_7_rad
|
| 200 |
+
- left_gripper_open
|
| 201 |
+
- torso_joint_1_rad
|
| 202 |
+
- torso_joint_2_rad
|
| 203 |
+
- torso_joint_3_rad
|
| 204 |
+
- torso_joint_4_rad
|
| 205 |
+
- torso_joint_5_rad
|
| 206 |
+
- head_joint_1_rad
|
| 207 |
+
- head_joint_2_rad
|
| 208 |
+
- chassis_pos_1
|
| 209 |
+
- chassis_pos_2
|
| 210 |
+
- chassis_pos_3
|
| 211 |
+
- chassis_pos_4
|
| 212 |
+
- chassis_vel_1
|
| 213 |
+
- chassis_vel_2
|
| 214 |
+
- chassis_vel_3
|
| 215 |
+
- chassis_vel_4
|
| 216 |
+
shape:
|
| 217 |
+
- 31
|
| 218 |
+
observation.state:
|
| 219 |
+
dtype: float32
|
| 220 |
+
names:
|
| 221 |
+
- right_arm_joint_1_rad
|
| 222 |
+
- right_arm_joint_2_rad
|
| 223 |
+
- right_arm_joint_3_rad
|
| 224 |
+
- right_arm_joint_4_rad
|
| 225 |
+
- right_arm_joint_5_rad
|
| 226 |
+
- right_arm_joint_6_rad
|
| 227 |
+
- right_arm_joint_7_rad
|
| 228 |
+
- right_gripper_open
|
| 229 |
+
- left_arm_joint_1_rad
|
| 230 |
+
- left_arm_joint_2_rad
|
| 231 |
+
- left_arm_joint_3_rad
|
| 232 |
+
- left_arm_joint_4_rad
|
| 233 |
+
- left_arm_joint_5_rad
|
| 234 |
+
- left_arm_joint_6_rad
|
| 235 |
+
- left_arm_joint_7_rad
|
| 236 |
+
- left_gripper_open
|
| 237 |
+
- torso_joint_1_rad
|
| 238 |
+
- torso_joint_2_rad
|
| 239 |
+
- torso_joint_3_rad
|
| 240 |
+
- torso_joint_4_rad
|
| 241 |
+
- torso_joint_5_rad
|
| 242 |
+
- head_joint_1_rad
|
| 243 |
+
- head_joint_2_rad
|
| 244 |
+
- chassis_pos_1
|
| 245 |
+
- chassis_pos_2
|
| 246 |
+
- chassis_pos_3
|
| 247 |
+
- chassis_pos_4
|
| 248 |
+
- chassis_vel_1
|
| 249 |
+
- chassis_vel_2
|
| 250 |
+
- chassis_vel_3
|
| 251 |
+
- chassis_vel_4
|
| 252 |
+
shape:
|
| 253 |
+
- 31
|
| 254 |
+
observation.images.cam_right_head_rgb:
|
| 255 |
+
dtype: video
|
| 256 |
+
shape:
|
| 257 |
+
- 480
|
| 258 |
+
- 640
|
| 259 |
+
- 3
|
| 260 |
+
names:
|
| 261 |
+
- height
|
| 262 |
+
- width
|
| 263 |
+
- channels
|
| 264 |
+
info:
|
| 265 |
+
video.fps: 30
|
| 266 |
+
video.height: 480
|
| 267 |
+
video.width: 640
|
| 268 |
+
video.channels: 3
|
| 269 |
+
video.codec: libx264
|
| 270 |
+
video.pix_fmt: yuv420p
|
| 271 |
+
video.is_depth_map: false
|
| 272 |
+
has_audio: false
|
| 273 |
+
observation.images.cam_left_head_rgb:
|
| 274 |
+
dtype: video
|
| 275 |
+
shape:
|
| 276 |
+
- 480
|
| 277 |
+
- 640
|
| 278 |
+
- 3
|
| 279 |
+
names:
|
| 280 |
+
- height
|
| 281 |
+
- width
|
| 282 |
+
- channels
|
| 283 |
+
info:
|
| 284 |
+
video.fps: 30
|
| 285 |
+
video.height: 480
|
| 286 |
+
video.width: 640
|
| 287 |
+
video.channels: 3
|
| 288 |
+
video.codec: libx264
|
| 289 |
+
video.pix_fmt: yuv420p
|
| 290 |
+
video.is_depth_map: false
|
| 291 |
+
has_audio: false
|
| 292 |
+
observation.images.cam_right_wrist_rgb:
|
| 293 |
+
dtype: video
|
| 294 |
+
shape:
|
| 295 |
+
- 480
|
| 296 |
+
- 640
|
| 297 |
+
- 3
|
| 298 |
+
names:
|
| 299 |
+
- height
|
| 300 |
+
- width
|
| 301 |
+
- channels
|
| 302 |
+
info:
|
| 303 |
+
video.fps: 30
|
| 304 |
+
video.height: 480
|
| 305 |
+
video.width: 640
|
| 306 |
+
video.channels: 3
|
| 307 |
+
video.codec: libx264
|
| 308 |
+
video.pix_fmt: yuv420p
|
| 309 |
+
video.is_depth_map: false
|
| 310 |
+
has_audio: false
|
| 311 |
+
observation.images.cam_left_wrist_rgb:
|
| 312 |
+
dtype: video
|
| 313 |
+
shape:
|
| 314 |
+
- 480
|
| 315 |
+
- 640
|
| 316 |
+
- 3
|
| 317 |
+
names:
|
| 318 |
+
- height
|
| 319 |
+
- width
|
| 320 |
+
- channels
|
| 321 |
+
info:
|
| 322 |
+
video.fps: 30
|
| 323 |
+
video.height: 480
|
| 324 |
+
video.width: 640
|
| 325 |
+
video.channels: 3
|
| 326 |
+
video.codec: libx264
|
| 327 |
+
video.pix_fmt: yuv420p
|
| 328 |
+
video.is_depth_map: false
|
| 329 |
+
has_audio: false
|
| 330 |
+
timestamp:
|
| 331 |
+
dtype: float32
|
| 332 |
+
shape:
|
| 333 |
+
- 1
|
| 334 |
+
names: null
|
| 335 |
+
frame_index:
|
| 336 |
+
dtype: int64
|
| 337 |
+
shape:
|
| 338 |
+
- 1
|
| 339 |
+
names: null
|
| 340 |
+
episode_index:
|
| 341 |
+
dtype: int64
|
| 342 |
+
shape:
|
| 343 |
+
- 1
|
| 344 |
+
names: null
|
| 345 |
+
index:
|
| 346 |
+
dtype: int64
|
| 347 |
+
shape:
|
| 348 |
+
- 1
|
| 349 |
+
names: null
|
| 350 |
+
task_index:
|
| 351 |
+
dtype: int64
|
| 352 |
+
shape:
|
| 353 |
+
- 1
|
| 354 |
+
names: null
|
| 355 |
+
gripper_open_scale_state:
|
| 356 |
+
names:
|
| 357 |
+
- left_gripper_open_scale
|
| 358 |
+
- right_gripper_open_scale
|
| 359 |
+
dtype: float64
|
| 360 |
+
shape:
|
| 361 |
+
- 2
|
| 362 |
+
gripper_open_scale_action:
|
| 363 |
+
names:
|
| 364 |
+
- left_gripper_open_scale
|
| 365 |
+
- right_gripper_open_scale
|
| 366 |
+
dtype: float64
|
| 367 |
+
shape:
|
| 368 |
+
- 2
|
| 369 |
+
eef_sim_pose_state:
|
| 370 |
+
names:
|
| 371 |
+
- left_eef_pos_x
|
| 372 |
+
- left_eef_pos_y
|
| 373 |
+
- left_eef_pos_z
|
| 374 |
+
- left_eef_rot_x
|
| 375 |
+
- left_eef_rot_y
|
| 376 |
+
- left_eef_rot_z
|
| 377 |
+
- right_eef_pos_x
|
| 378 |
+
- right_eef_pos_y
|
| 379 |
+
- right_eef_pos_z
|
| 380 |
+
- right_eef_rot_x
|
| 381 |
+
- right_eef_rot_y
|
| 382 |
+
- right_eef_rot_z
|
| 383 |
+
dtype: float32
|
| 384 |
+
shape:
|
| 385 |
+
- 12
|
| 386 |
+
eef_sim_pose_action:
|
| 387 |
+
names:
|
| 388 |
+
- left_eef_pos_x
|
| 389 |
+
- left_eef_pos_y
|
| 390 |
+
- left_eef_pos_z
|
| 391 |
+
- left_eef_rot_x
|
| 392 |
+
- left_eef_rot_y
|
| 393 |
+
- left_eef_rot_z
|
| 394 |
+
- right_eef_pos_x
|
| 395 |
+
- right_eef_pos_y
|
| 396 |
+
- right_eef_pos_z
|
| 397 |
+
- right_eef_rot_x
|
| 398 |
+
- right_eef_rot_y
|
| 399 |
+
- right_eef_rot_z
|
| 400 |
+
dtype: float32
|
| 401 |
+
shape:
|
| 402 |
+
- 12
|
| 403 |
+
eef_direction_state:
|
| 404 |
+
names:
|
| 405 |
+
- left_eef_direction
|
| 406 |
+
- right_eef_direction
|
| 407 |
+
dtype: int32
|
| 408 |
+
shape:
|
| 409 |
+
- 2
|
| 410 |
+
eef_direction_action:
|
| 411 |
+
names:
|
| 412 |
+
- left_eef_direction
|
| 413 |
+
- right_eef_direction
|
| 414 |
+
dtype: int32
|
| 415 |
+
shape:
|
| 416 |
+
- 2
|
| 417 |
+
eef_velocity_state:
|
| 418 |
+
names:
|
| 419 |
+
- left_eef_velocity
|
| 420 |
+
- right_eef_velocity
|
| 421 |
+
dtype: int32
|
| 422 |
+
shape:
|
| 423 |
+
- 2
|
| 424 |
+
eef_velocity_action:
|
| 425 |
+
names:
|
| 426 |
+
- left_eef_velocity
|
| 427 |
+
- right_eef_velocity
|
| 428 |
+
dtype: int32
|
| 429 |
+
shape:
|
| 430 |
+
- 2
|
| 431 |
+
eef_acc_mag_state:
|
| 432 |
+
names:
|
| 433 |
+
- left_eef_acc_mag
|
| 434 |
+
- right_eef_acc_mag
|
| 435 |
+
dtype: int32
|
| 436 |
+
shape:
|
| 437 |
+
- 2
|
| 438 |
+
eef_acc_mag_action:
|
| 439 |
+
names:
|
| 440 |
+
- left_eef_acc_mag
|
| 441 |
+
- right_eef_acc_mag
|
| 442 |
+
dtype: int32
|
| 443 |
+
shape:
|
| 444 |
+
- 2
|
| 445 |
+
gripper_mode_state:
|
| 446 |
+
names:
|
| 447 |
+
- left_gripper_mode
|
| 448 |
+
- right_gripper_mode
|
| 449 |
+
dtype: int32
|
| 450 |
+
shape:
|
| 451 |
+
- 2
|
| 452 |
+
gripper_mode_action:
|
| 453 |
+
names:
|
| 454 |
+
- left_gripper_mode
|
| 455 |
+
- right_gripper_mode
|
| 456 |
+
dtype: int32
|
| 457 |
+
shape:
|
| 458 |
+
- 2
|
| 459 |
+
gripper_activity_state:
|
| 460 |
+
names:
|
| 461 |
+
- left_gripper_activity
|
| 462 |
+
- right_gripper_activity
|
| 463 |
+
dtype: int32
|
| 464 |
+
shape:
|
| 465 |
+
- 2
|
| 466 |
+
gripper_activity_action:
|
| 467 |
+
names:
|
| 468 |
+
- left_gripper_activity
|
| 469 |
+
- right_gripper_activity
|
| 470 |
+
dtype: int32
|
| 471 |
+
shape:
|
| 472 |
+
- 2
|
| 473 |
+
authors:
|
| 474 |
+
contributed_by:
|
| 475 |
+
- name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
|
| 476 |
+
dataset_description: This dataset uses an extended format based on LeRobot and is
|
| 477 |
+
fully compatible with LeRobot.
|
| 478 |
+
homepage: https://flagopen.github.io/RoboCOIN/
|
| 479 |
+
paper: https://arxiv.org/abs/2511.17441
|
| 480 |
+
repository: https://github.com/FlagOpen/RoboCOIN
|
| 481 |
+
contact_info: For questions, issues, or feedback regarding this dataset, please contact
|
| 482 |
+
us.
|
| 483 |
+
support_info: For technical support, please open an issue on our GitHub repository.
|
| 484 |
+
license_details: apache-2.0
|
| 485 |
+
citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\
|
| 486 |
+
\ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\
|
| 487 |
+
\ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
|
| 488 |
+
\ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
|
| 489 |
+
\ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
|
| 490 |
+
\ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
|
| 491 |
+
\ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
|
| 492 |
+
\ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
|
| 493 |
+
\ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
|
| 494 |
+
\ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
|
| 495 |
+
\ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
|
| 496 |
+
\ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
|
| 497 |
+
\ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
|
| 498 |
+
\ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
|
| 499 |
+
\ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\
|
| 500 |
+
\ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n"
|
| 501 |
+
additional_citations: 'If you use this dataset, please also consider citing:
|
| 502 |
+
|
| 503 |
+
LeRobot Framework: https://github.com/huggingface/lerobot
|
| 504 |
+
|
| 505 |
+
'
|
| 506 |
+
version_info: Initial Release
|
| 507 |
+
data_path: data/chunk-{id}/episode_{id}.parquet
|
| 508 |
+
video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
|
| 509 |
+
video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4
|
dataset_info/Galbot_G1_pick_floor_trash_1.yaml
ADDED
|
@@ -0,0 +1,511 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
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|
|
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|
|
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|
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|
|
|
|
|
|
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|
|
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|
|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
| 1 |
+
task_categories:
|
| 2 |
+
- robotics
|
| 3 |
+
language:
|
| 4 |
+
- en
|
| 5 |
+
tags:
|
| 6 |
+
- RoboCOIN
|
| 7 |
+
- LeRobot
|
| 8 |
+
license: apache-2.0
|
| 9 |
+
configs:
|
| 10 |
+
- config_name: default
|
| 11 |
+
data_files: data/chunk-{id}/episode_{id}.parquet
|
| 12 |
+
extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
|
| 13 |
+
in your research/publications—see the "Citation" section for details. You agree
|
| 14 |
+
to not use the dataset to conduct experiments that cause harm to human subjects.
|
| 15 |
+
extra_gated_fields:
|
| 16 |
+
Company/Organization:
|
| 17 |
+
type: text
|
| 18 |
+
description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
|
| 19 |
+
Country:
|
| 20 |
+
type: country
|
| 21 |
+
description: e.g., "Germany", "China", "United States"
|
| 22 |
+
codebase_version: v2.1
|
| 23 |
+
dataset_name: Galbot_G1_pick_floor_trash_1
|
| 24 |
+
dataset_uuid: e8a704a9-2722-4532-bef3-5ede71570144
|
| 25 |
+
scene_type:
|
| 26 |
+
level1: Household
|
| 27 |
+
level2: Living Room
|
| 28 |
+
level3: null
|
| 29 |
+
level4: null
|
| 30 |
+
level5: null
|
| 31 |
+
env_type: real_world
|
| 32 |
+
objects:
|
| 33 |
+
- id: trash can
|
| 34 |
+
name: trash can
|
| 35 |
+
color: none
|
| 36 |
+
anchor_policy: static
|
| 37 |
+
- id: plastic bag
|
| 38 |
+
name: plastic bag
|
| 39 |
+
color: white
|
| 40 |
+
anchor_policy: static
|
| 41 |
+
- id: aluminum can
|
| 42 |
+
name: aluminum can
|
| 43 |
+
color: none
|
| 44 |
+
anchor_policy: static
|
| 45 |
+
- id: toothpaste packaging
|
| 46 |
+
name: toothpaste packaging
|
| 47 |
+
color: green
|
| 48 |
+
anchor_policy: static
|
| 49 |
+
- id: '1'
|
| 50 |
+
name: aluminum can
|
| 51 |
+
color: aluminum can
|
| 52 |
+
anchor_policy: static
|
| 53 |
+
- id: plastic bottle
|
| 54 |
+
name: plastic bottle
|
| 55 |
+
color: brown
|
| 56 |
+
anchor_policy: static
|
| 57 |
+
- id: floor
|
| 58 |
+
name: floor
|
| 59 |
+
color: brown
|
| 60 |
+
anchor_policy: static
|
| 61 |
+
task_operation_type: mobile_dual_arm
|
| 62 |
+
task_instruction: Pick up the trash from the ground and place it into the trash bin.
|
| 63 |
+
sub_tasks:
|
| 64 |
+
- Pick up the trash from the ground and place it into the trash bin.
|
| 65 |
+
atomic_actions:
|
| 66 |
+
- move
|
| 67 |
+
- grasp
|
| 68 |
+
- place
|
| 69 |
+
robot_name: Galbot_G1
|
| 70 |
+
end_effector_type: two_finger_end_effector
|
| 71 |
+
tele_type: master_arm
|
| 72 |
+
sensor_list:
|
| 73 |
+
- cam_right_head_rgb
|
| 74 |
+
- cam_left_head_rgb
|
| 75 |
+
- cam_right_wrist_rgb
|
| 76 |
+
- cam_left_wrist_rgb
|
| 77 |
+
came_info:
|
| 78 |
+
cam_right_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 79 |
+
pix_fmt=yuv420p
|
| 80 |
+
cam_left_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 81 |
+
pix_fmt=yuv420p
|
| 82 |
+
cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 83 |
+
pix_fmt=yuv420p
|
| 84 |
+
cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 85 |
+
pix_fmt=yuv420p
|
| 86 |
+
depth_enabled: false
|
| 87 |
+
coordinate_definition: right-hand-frame
|
| 88 |
+
joint_rotation_dim: radian
|
| 89 |
+
end_rotation_dim: radian
|
| 90 |
+
end_translation_dim: meter
|
| 91 |
+
annotations:
|
| 92 |
+
- eef_acc_mag_annotation.jsonl
|
| 93 |
+
- eef_direction_annotation.jsonl
|
| 94 |
+
- eef_velocity_annotation.jsonl
|
| 95 |
+
- gripper_activity_annotation.jsonl
|
| 96 |
+
- gripper_mode_annotation.jsonl
|
| 97 |
+
statistics:
|
| 98 |
+
total_episodes: 20
|
| 99 |
+
total_frames: 65226
|
| 100 |
+
fps: 30
|
| 101 |
+
total_tasks: 1
|
| 102 |
+
total_videos: 80
|
| 103 |
+
total_chunks: 1
|
| 104 |
+
chunks_size: 10000
|
| 105 |
+
state_dim: 31
|
| 106 |
+
action_dim: 31
|
| 107 |
+
camera_views: 4
|
| 108 |
+
dataset_size: 3.31 GB
|
| 109 |
+
frame_num: 65226
|
| 110 |
+
frame_range: 100K
|
| 111 |
+
dataset_size: 3.31 GB
|
| 112 |
+
data_structure: 'Galbot_G1_pick_floor_trash_1_qced_hardlink/
|
| 113 |
+
|
| 114 |
+
|-- annotations
|
| 115 |
+
|
| 116 |
+
| |-- eef_acc_mag_annotation.jsonl
|
| 117 |
+
|
| 118 |
+
| |-- eef_direction_annotation.jsonl
|
| 119 |
+
|
| 120 |
+
| |-- eef_velocity_annotation.jsonl
|
| 121 |
+
|
| 122 |
+
| |-- gripper_activity_annotation.jsonl
|
| 123 |
+
|
| 124 |
+
| `-- gripper_mode_annotation.jsonl
|
| 125 |
+
|
| 126 |
+
|-- data
|
| 127 |
+
|
| 128 |
+
| `-- chunk-000
|
| 129 |
+
|
| 130 |
+
| |-- episode_000000.parquet
|
| 131 |
+
|
| 132 |
+
| |-- episode_000001.parquet
|
| 133 |
+
|
| 134 |
+
| |-- episode_000002.parquet
|
| 135 |
+
|
| 136 |
+
| |-- episode_000003.parquet
|
| 137 |
+
|
| 138 |
+
| |-- episode_000004.parquet
|
| 139 |
+
|
| 140 |
+
| |-- episode_000005.parquet
|
| 141 |
+
|
| 142 |
+
| |-- episode_000006.parquet
|
| 143 |
+
|
| 144 |
+
| |-- episode_000007.parquet
|
| 145 |
+
|
| 146 |
+
| |-- episode_000008.parquet
|
| 147 |
+
|
| 148 |
+
| |-- episode_000009.parquet
|
| 149 |
+
|
| 150 |
+
| |-- episode_000010.parquet
|
| 151 |
+
|
| 152 |
+
| `-- episode_000011.parquet
|
| 153 |
+
|
| 154 |
+
| `-- ... (8 more entries)
|
| 155 |
+
|
| 156 |
+
|-- meta
|
| 157 |
+
|
| 158 |
+
| |-- episodes.jsonl
|
| 159 |
+
|
| 160 |
+
| |-- episodes_stats.jsonl
|
| 161 |
+
|
| 162 |
+
| |-- info.json
|
| 163 |
+
|
| 164 |
+
| `-- tasks.jsonl
|
| 165 |
+
|
| 166 |
+
|-- videos
|
| 167 |
+
|
| 168 |
+
| `-- chunk-000
|
| 169 |
+
|
| 170 |
+
| |-- observation.images.cam_left_head_rgb
|
| 171 |
+
|
| 172 |
+
| |-- observation.images.cam_left_wrist_rgb
|
| 173 |
+
|
| 174 |
+
| |-- observation.images.cam_right_head_rgb
|
| 175 |
+
|
| 176 |
+
| `-- observation.images.cam_right_wrist_rgb
|
| 177 |
+
|
| 178 |
+
|-- info.yaml
|
| 179 |
+
|
| 180 |
+
`-- README.md'
|
| 181 |
+
splits:
|
| 182 |
+
train: 0:19
|
| 183 |
+
features:
|
| 184 |
+
action:
|
| 185 |
+
dtype: float32
|
| 186 |
+
names:
|
| 187 |
+
- right_arm_joint_1_rad
|
| 188 |
+
- right_arm_joint_2_rad
|
| 189 |
+
- right_arm_joint_3_rad
|
| 190 |
+
- right_arm_joint_4_rad
|
| 191 |
+
- right_arm_joint_5_rad
|
| 192 |
+
- right_arm_joint_6_rad
|
| 193 |
+
- right_arm_joint_7_rad
|
| 194 |
+
- right_gripper_open
|
| 195 |
+
- left_arm_joint_1_rad
|
| 196 |
+
- left_arm_joint_2_rad
|
| 197 |
+
- left_arm_joint_3_rad
|
| 198 |
+
- left_arm_joint_4_rad
|
| 199 |
+
- left_arm_joint_5_rad
|
| 200 |
+
- left_arm_joint_6_rad
|
| 201 |
+
- left_arm_joint_7_rad
|
| 202 |
+
- left_gripper_open
|
| 203 |
+
- torso_joint_1_rad
|
| 204 |
+
- torso_joint_2_rad
|
| 205 |
+
- torso_joint_3_rad
|
| 206 |
+
- torso_joint_4_rad
|
| 207 |
+
- torso_joint_5_rad
|
| 208 |
+
- head_joint_1_rad
|
| 209 |
+
- head_joint_2_rad
|
| 210 |
+
- chassis_pos_1
|
| 211 |
+
- chassis_pos_2
|
| 212 |
+
- chassis_pos_3
|
| 213 |
+
- chassis_pos_4
|
| 214 |
+
- chassis_vel_1
|
| 215 |
+
- chassis_vel_2
|
| 216 |
+
- chassis_vel_3
|
| 217 |
+
- chassis_vel_4
|
| 218 |
+
shape:
|
| 219 |
+
- 31
|
| 220 |
+
observation.state:
|
| 221 |
+
dtype: float32
|
| 222 |
+
names:
|
| 223 |
+
- right_arm_joint_1_rad
|
| 224 |
+
- right_arm_joint_2_rad
|
| 225 |
+
- right_arm_joint_3_rad
|
| 226 |
+
- right_arm_joint_4_rad
|
| 227 |
+
- right_arm_joint_5_rad
|
| 228 |
+
- right_arm_joint_6_rad
|
| 229 |
+
- right_arm_joint_7_rad
|
| 230 |
+
- right_gripper_open
|
| 231 |
+
- left_arm_joint_1_rad
|
| 232 |
+
- left_arm_joint_2_rad
|
| 233 |
+
- left_arm_joint_3_rad
|
| 234 |
+
- left_arm_joint_4_rad
|
| 235 |
+
- left_arm_joint_5_rad
|
| 236 |
+
- left_arm_joint_6_rad
|
| 237 |
+
- left_arm_joint_7_rad
|
| 238 |
+
- left_gripper_open
|
| 239 |
+
- torso_joint_1_rad
|
| 240 |
+
- torso_joint_2_rad
|
| 241 |
+
- torso_joint_3_rad
|
| 242 |
+
- torso_joint_4_rad
|
| 243 |
+
- torso_joint_5_rad
|
| 244 |
+
- head_joint_1_rad
|
| 245 |
+
- head_joint_2_rad
|
| 246 |
+
- chassis_pos_1
|
| 247 |
+
- chassis_pos_2
|
| 248 |
+
- chassis_pos_3
|
| 249 |
+
- chassis_pos_4
|
| 250 |
+
- chassis_vel_1
|
| 251 |
+
- chassis_vel_2
|
| 252 |
+
- chassis_vel_3
|
| 253 |
+
- chassis_vel_4
|
| 254 |
+
shape:
|
| 255 |
+
- 31
|
| 256 |
+
observation.images.cam_right_head_rgb:
|
| 257 |
+
dtype: video
|
| 258 |
+
shape:
|
| 259 |
+
- 480
|
| 260 |
+
- 640
|
| 261 |
+
- 3
|
| 262 |
+
names:
|
| 263 |
+
- height
|
| 264 |
+
- width
|
| 265 |
+
- channels
|
| 266 |
+
info:
|
| 267 |
+
video.fps: 30
|
| 268 |
+
video.height: 480
|
| 269 |
+
video.width: 640
|
| 270 |
+
video.channels: 3
|
| 271 |
+
video.codec: libx264
|
| 272 |
+
video.pix_fmt: yuv420p
|
| 273 |
+
video.is_depth_map: false
|
| 274 |
+
has_audio: false
|
| 275 |
+
observation.images.cam_left_head_rgb:
|
| 276 |
+
dtype: video
|
| 277 |
+
shape:
|
| 278 |
+
- 480
|
| 279 |
+
- 640
|
| 280 |
+
- 3
|
| 281 |
+
names:
|
| 282 |
+
- height
|
| 283 |
+
- width
|
| 284 |
+
- channels
|
| 285 |
+
info:
|
| 286 |
+
video.fps: 30
|
| 287 |
+
video.height: 480
|
| 288 |
+
video.width: 640
|
| 289 |
+
video.channels: 3
|
| 290 |
+
video.codec: libx264
|
| 291 |
+
video.pix_fmt: yuv420p
|
| 292 |
+
video.is_depth_map: false
|
| 293 |
+
has_audio: false
|
| 294 |
+
observation.images.cam_right_wrist_rgb:
|
| 295 |
+
dtype: video
|
| 296 |
+
shape:
|
| 297 |
+
- 480
|
| 298 |
+
- 640
|
| 299 |
+
- 3
|
| 300 |
+
names:
|
| 301 |
+
- height
|
| 302 |
+
- width
|
| 303 |
+
- channels
|
| 304 |
+
info:
|
| 305 |
+
video.fps: 30
|
| 306 |
+
video.height: 480
|
| 307 |
+
video.width: 640
|
| 308 |
+
video.channels: 3
|
| 309 |
+
video.codec: libx264
|
| 310 |
+
video.pix_fmt: yuv420p
|
| 311 |
+
video.is_depth_map: false
|
| 312 |
+
has_audio: false
|
| 313 |
+
observation.images.cam_left_wrist_rgb:
|
| 314 |
+
dtype: video
|
| 315 |
+
shape:
|
| 316 |
+
- 480
|
| 317 |
+
- 640
|
| 318 |
+
- 3
|
| 319 |
+
names:
|
| 320 |
+
- height
|
| 321 |
+
- width
|
| 322 |
+
- channels
|
| 323 |
+
info:
|
| 324 |
+
video.fps: 30
|
| 325 |
+
video.height: 480
|
| 326 |
+
video.width: 640
|
| 327 |
+
video.channels: 3
|
| 328 |
+
video.codec: libx264
|
| 329 |
+
video.pix_fmt: yuv420p
|
| 330 |
+
video.is_depth_map: false
|
| 331 |
+
has_audio: false
|
| 332 |
+
timestamp:
|
| 333 |
+
dtype: float32
|
| 334 |
+
shape:
|
| 335 |
+
- 1
|
| 336 |
+
names: null
|
| 337 |
+
frame_index:
|
| 338 |
+
dtype: int64
|
| 339 |
+
shape:
|
| 340 |
+
- 1
|
| 341 |
+
names: null
|
| 342 |
+
episode_index:
|
| 343 |
+
dtype: int64
|
| 344 |
+
shape:
|
| 345 |
+
- 1
|
| 346 |
+
names: null
|
| 347 |
+
index:
|
| 348 |
+
dtype: int64
|
| 349 |
+
shape:
|
| 350 |
+
- 1
|
| 351 |
+
names: null
|
| 352 |
+
task_index:
|
| 353 |
+
dtype: int64
|
| 354 |
+
shape:
|
| 355 |
+
- 1
|
| 356 |
+
names: null
|
| 357 |
+
gripper_open_scale_state:
|
| 358 |
+
names:
|
| 359 |
+
- left_gripper_open_scale
|
| 360 |
+
- right_gripper_open_scale
|
| 361 |
+
dtype: float64
|
| 362 |
+
shape:
|
| 363 |
+
- 2
|
| 364 |
+
gripper_open_scale_action:
|
| 365 |
+
names:
|
| 366 |
+
- left_gripper_open_scale
|
| 367 |
+
- right_gripper_open_scale
|
| 368 |
+
dtype: float64
|
| 369 |
+
shape:
|
| 370 |
+
- 2
|
| 371 |
+
eef_sim_pose_state:
|
| 372 |
+
names:
|
| 373 |
+
- left_eef_pos_x
|
| 374 |
+
- left_eef_pos_y
|
| 375 |
+
- left_eef_pos_z
|
| 376 |
+
- left_eef_rot_x
|
| 377 |
+
- left_eef_rot_y
|
| 378 |
+
- left_eef_rot_z
|
| 379 |
+
- right_eef_pos_x
|
| 380 |
+
- right_eef_pos_y
|
| 381 |
+
- right_eef_pos_z
|
| 382 |
+
- right_eef_rot_x
|
| 383 |
+
- right_eef_rot_y
|
| 384 |
+
- right_eef_rot_z
|
| 385 |
+
dtype: float32
|
| 386 |
+
shape:
|
| 387 |
+
- 12
|
| 388 |
+
eef_sim_pose_action:
|
| 389 |
+
names:
|
| 390 |
+
- left_eef_pos_x
|
| 391 |
+
- left_eef_pos_y
|
| 392 |
+
- left_eef_pos_z
|
| 393 |
+
- left_eef_rot_x
|
| 394 |
+
- left_eef_rot_y
|
| 395 |
+
- left_eef_rot_z
|
| 396 |
+
- right_eef_pos_x
|
| 397 |
+
- right_eef_pos_y
|
| 398 |
+
- right_eef_pos_z
|
| 399 |
+
- right_eef_rot_x
|
| 400 |
+
- right_eef_rot_y
|
| 401 |
+
- right_eef_rot_z
|
| 402 |
+
dtype: float32
|
| 403 |
+
shape:
|
| 404 |
+
- 12
|
| 405 |
+
eef_direction_state:
|
| 406 |
+
names:
|
| 407 |
+
- left_eef_direction
|
| 408 |
+
- right_eef_direction
|
| 409 |
+
dtype: int32
|
| 410 |
+
shape:
|
| 411 |
+
- 2
|
| 412 |
+
eef_direction_action:
|
| 413 |
+
names:
|
| 414 |
+
- left_eef_direction
|
| 415 |
+
- right_eef_direction
|
| 416 |
+
dtype: int32
|
| 417 |
+
shape:
|
| 418 |
+
- 2
|
| 419 |
+
eef_velocity_state:
|
| 420 |
+
names:
|
| 421 |
+
- left_eef_velocity
|
| 422 |
+
- right_eef_velocity
|
| 423 |
+
dtype: int32
|
| 424 |
+
shape:
|
| 425 |
+
- 2
|
| 426 |
+
eef_velocity_action:
|
| 427 |
+
names:
|
| 428 |
+
- left_eef_velocity
|
| 429 |
+
- right_eef_velocity
|
| 430 |
+
dtype: int32
|
| 431 |
+
shape:
|
| 432 |
+
- 2
|
| 433 |
+
eef_acc_mag_state:
|
| 434 |
+
names:
|
| 435 |
+
- left_eef_acc_mag
|
| 436 |
+
- right_eef_acc_mag
|
| 437 |
+
dtype: int32
|
| 438 |
+
shape:
|
| 439 |
+
- 2
|
| 440 |
+
eef_acc_mag_action:
|
| 441 |
+
names:
|
| 442 |
+
- left_eef_acc_mag
|
| 443 |
+
- right_eef_acc_mag
|
| 444 |
+
dtype: int32
|
| 445 |
+
shape:
|
| 446 |
+
- 2
|
| 447 |
+
gripper_mode_state:
|
| 448 |
+
names:
|
| 449 |
+
- left_gripper_mode
|
| 450 |
+
- right_gripper_mode
|
| 451 |
+
dtype: int32
|
| 452 |
+
shape:
|
| 453 |
+
- 2
|
| 454 |
+
gripper_mode_action:
|
| 455 |
+
names:
|
| 456 |
+
- left_gripper_mode
|
| 457 |
+
- right_gripper_mode
|
| 458 |
+
dtype: int32
|
| 459 |
+
shape:
|
| 460 |
+
- 2
|
| 461 |
+
gripper_activity_state:
|
| 462 |
+
names:
|
| 463 |
+
- left_gripper_activity
|
| 464 |
+
- right_gripper_activity
|
| 465 |
+
dtype: int32
|
| 466 |
+
shape:
|
| 467 |
+
- 2
|
| 468 |
+
gripper_activity_action:
|
| 469 |
+
names:
|
| 470 |
+
- left_gripper_activity
|
| 471 |
+
- right_gripper_activity
|
| 472 |
+
dtype: int32
|
| 473 |
+
shape:
|
| 474 |
+
- 2
|
| 475 |
+
authors:
|
| 476 |
+
contributed_by:
|
| 477 |
+
- name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
|
| 478 |
+
dataset_description: This dataset uses an extended format based on LeRobot and is
|
| 479 |
+
fully compatible with LeRobot.
|
| 480 |
+
homepage: https://flagopen.github.io/RoboCOIN/
|
| 481 |
+
paper: https://arxiv.org/abs/2511.17441
|
| 482 |
+
repository: https://github.com/FlagOpen/RoboCOIN
|
| 483 |
+
contact_info: For questions, issues, or feedback regarding this dataset, please contact
|
| 484 |
+
us.
|
| 485 |
+
support_info: For technical support, please open an issue on our GitHub repository.
|
| 486 |
+
license_details: apache-2.0
|
| 487 |
+
citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\
|
| 488 |
+
\ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\
|
| 489 |
+
\ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
|
| 490 |
+
\ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
|
| 491 |
+
\ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
|
| 492 |
+
\ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
|
| 493 |
+
\ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
|
| 494 |
+
\ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
|
| 495 |
+
\ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
|
| 496 |
+
\ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
|
| 497 |
+
\ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
|
| 498 |
+
\ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
|
| 499 |
+
\ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
|
| 500 |
+
\ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
|
| 501 |
+
\ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\
|
| 502 |
+
\ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n"
|
| 503 |
+
additional_citations: 'If you use this dataset, please also consider citing:
|
| 504 |
+
|
| 505 |
+
LeRobot Framework: https://github.com/huggingface/lerobot
|
| 506 |
+
|
| 507 |
+
'
|
| 508 |
+
version_info: Initial Release
|
| 509 |
+
data_path: data/chunk-{id}/episode_{id}.parquet
|
| 510 |
+
video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
|
| 511 |
+
video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4
|
dataset_info/Galbot_G1_pick_trash_can.yaml
ADDED
|
@@ -0,0 +1,501 @@
|
|
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|
|
| 1 |
+
task_categories:
|
| 2 |
+
- robotics
|
| 3 |
+
language:
|
| 4 |
+
- en
|
| 5 |
+
tags:
|
| 6 |
+
- RoboCOIN
|
| 7 |
+
- LeRobot
|
| 8 |
+
license: apache-2.0
|
| 9 |
+
configs:
|
| 10 |
+
- config_name: default
|
| 11 |
+
data_files: data/chunk-{id}/episode_{id}.parquet
|
| 12 |
+
extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
|
| 13 |
+
in your research/publications—see the "Citation" section for details. You agree
|
| 14 |
+
to not use the dataset to conduct experiments that cause harm to human subjects.
|
| 15 |
+
extra_gated_fields:
|
| 16 |
+
Company/Organization:
|
| 17 |
+
type: text
|
| 18 |
+
description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
|
| 19 |
+
Country:
|
| 20 |
+
type: country
|
| 21 |
+
description: e.g., "Germany", "China", "United States"
|
| 22 |
+
codebase_version: v2.1
|
| 23 |
+
dataset_name: Galbot_G1_pick_trash_can
|
| 24 |
+
dataset_uuid: cf14d9b3-ff43-43da-8a00-1f38170e598b
|
| 25 |
+
scene_type:
|
| 26 |
+
level1: Household
|
| 27 |
+
level2: Bedroom
|
| 28 |
+
level3: null
|
| 29 |
+
level4: null
|
| 30 |
+
level5: null
|
| 31 |
+
env_type: real_world
|
| 32 |
+
objects:
|
| 33 |
+
- id: trash_can
|
| 34 |
+
name: trash can
|
| 35 |
+
color: none
|
| 36 |
+
anchor_policy: static
|
| 37 |
+
task_operation_type: mobile_single_arm
|
| 38 |
+
task_instruction: Pick up the trash can from the floor.
|
| 39 |
+
sub_tasks:
|
| 40 |
+
- Pick up the trash can from the floor.
|
| 41 |
+
atomic_actions:
|
| 42 |
+
- move
|
| 43 |
+
- grasp
|
| 44 |
+
robot_name: Galbot_G1
|
| 45 |
+
end_effector_type: two_finger_end_effector
|
| 46 |
+
tele_type: master_arm
|
| 47 |
+
sensor_list:
|
| 48 |
+
- cam_right_head_rgb
|
| 49 |
+
- cam_left_head_rgb
|
| 50 |
+
- cam_right_wrist_rgb
|
| 51 |
+
- cam_left_wrist_rgb
|
| 52 |
+
came_info:
|
| 53 |
+
cam_right_head_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264,
|
| 54 |
+
pix_fmt=yuv420p
|
| 55 |
+
cam_left_head_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264,
|
| 56 |
+
pix_fmt=yuv420p
|
| 57 |
+
cam_right_wrist_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264,
|
| 58 |
+
pix_fmt=yuv420p
|
| 59 |
+
cam_left_wrist_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264,
|
| 60 |
+
pix_fmt=yuv420p
|
| 61 |
+
depth_enabled: false
|
| 62 |
+
coordinate_definition: right-hand-frame
|
| 63 |
+
joint_rotation_dim: radian
|
| 64 |
+
end_rotation_dim: radian
|
| 65 |
+
end_translation_dim: meter
|
| 66 |
+
base_translation_dim: meter
|
| 67 |
+
annotations:
|
| 68 |
+
- eef_acc_mag_annotation.jsonl
|
| 69 |
+
- eef_direction_annotation.jsonl
|
| 70 |
+
- eef_velocity_annotation.jsonl
|
| 71 |
+
- gripper_activity_annotation.jsonl
|
| 72 |
+
- gripper_mode_annotation.jsonl
|
| 73 |
+
statistics:
|
| 74 |
+
total_episodes: 239
|
| 75 |
+
total_frames: 85163
|
| 76 |
+
fps: 30
|
| 77 |
+
total_tasks: 1
|
| 78 |
+
total_videos: 956
|
| 79 |
+
total_chunks: 1
|
| 80 |
+
chunks_size: 10000
|
| 81 |
+
state_dim: 38
|
| 82 |
+
action_dim: 38
|
| 83 |
+
camera_views: 4
|
| 84 |
+
dataset_size: 2.75 GB
|
| 85 |
+
frame_num: 85163
|
| 86 |
+
frame_range: 100K
|
| 87 |
+
dataset_size: 2.75 GB
|
| 88 |
+
data_structure: 'Galbot_G1_pick_trash_can_0_qced_hardlink/
|
| 89 |
+
|
| 90 |
+
|-- annotations
|
| 91 |
+
|
| 92 |
+
| |-- eef_acc_mag_annotation.jsonl
|
| 93 |
+
|
| 94 |
+
| |-- eef_direction_annotation.jsonl
|
| 95 |
+
|
| 96 |
+
| |-- eef_velocity_annotation.jsonl
|
| 97 |
+
|
| 98 |
+
| |-- gripper_activity_annotation.jsonl
|
| 99 |
+
|
| 100 |
+
| `-- gripper_mode_annotation.jsonl
|
| 101 |
+
|
| 102 |
+
|-- data
|
| 103 |
+
|
| 104 |
+
| `-- chunk-000
|
| 105 |
+
|
| 106 |
+
| |-- episode_000000.parquet
|
| 107 |
+
|
| 108 |
+
| |-- episode_000001.parquet
|
| 109 |
+
|
| 110 |
+
| |-- episode_000002.parquet
|
| 111 |
+
|
| 112 |
+
| |-- episode_000003.parquet
|
| 113 |
+
|
| 114 |
+
| |-- episode_000004.parquet
|
| 115 |
+
|
| 116 |
+
| |-- episode_000005.parquet
|
| 117 |
+
|
| 118 |
+
| |-- episode_000006.parquet
|
| 119 |
+
|
| 120 |
+
| |-- episode_000007.parquet
|
| 121 |
+
|
| 122 |
+
| |-- episode_000008.parquet
|
| 123 |
+
|
| 124 |
+
| |-- episode_000009.parquet
|
| 125 |
+
|
| 126 |
+
| |-- episode_000010.parquet
|
| 127 |
+
|
| 128 |
+
| `-- episode_000011.parquet
|
| 129 |
+
|
| 130 |
+
| `-- ... (227 more entries)
|
| 131 |
+
|
| 132 |
+
|-- meta
|
| 133 |
+
|
| 134 |
+
| |-- episodes.jsonl
|
| 135 |
+
|
| 136 |
+
| |-- episodes_stats.jsonl
|
| 137 |
+
|
| 138 |
+
| |-- info.json
|
| 139 |
+
|
| 140 |
+
| `-- tasks.jsonl
|
| 141 |
+
|
| 142 |
+
|-- videos
|
| 143 |
+
|
| 144 |
+
| `-- chunk-000
|
| 145 |
+
|
| 146 |
+
| |-- observation.images.cam_left_head_rgb
|
| 147 |
+
|
| 148 |
+
| |-- observation.images.cam_left_wrist_rgb
|
| 149 |
+
|
| 150 |
+
| |-- observation.images.cam_right_head_rgb
|
| 151 |
+
|
| 152 |
+
| `-- observation.images.cam_right_wrist_rgb
|
| 153 |
+
|
| 154 |
+
|-- info.yaml
|
| 155 |
+
|
| 156 |
+
`-- README.md'
|
| 157 |
+
splits:
|
| 158 |
+
train: 0:238
|
| 159 |
+
features:
|
| 160 |
+
action:
|
| 161 |
+
dtype: float32
|
| 162 |
+
names:
|
| 163 |
+
- right_arm_joint_1_rad
|
| 164 |
+
- right_arm_joint_2_rad
|
| 165 |
+
- right_arm_joint_3_rad
|
| 166 |
+
- right_arm_joint_4_rad
|
| 167 |
+
- right_arm_joint_5_rad
|
| 168 |
+
- right_arm_joint_6_rad
|
| 169 |
+
- right_arm_joint_7_rad
|
| 170 |
+
- right_gripper_open
|
| 171 |
+
- left_arm_joint_1_rad
|
| 172 |
+
- left_arm_joint_2_rad
|
| 173 |
+
- left_arm_joint_3_rad
|
| 174 |
+
- left_arm_joint_4_rad
|
| 175 |
+
- left_arm_joint_5_rad
|
| 176 |
+
- left_arm_joint_6_rad
|
| 177 |
+
- left_arm_joint_7_rad
|
| 178 |
+
- left_gripper_open
|
| 179 |
+
- torso_joint_1_rad
|
| 180 |
+
- torso_joint_2_rad
|
| 181 |
+
- torso_joint_3_rad
|
| 182 |
+
- torso_joint_4_rad
|
| 183 |
+
- torso_joint_5_rad
|
| 184 |
+
- head_joint_1_rad
|
| 185 |
+
- head_joint_2_rad
|
| 186 |
+
- chassis_pos_1
|
| 187 |
+
- chassis_pos_2
|
| 188 |
+
- chassis_pos_3
|
| 189 |
+
- chassis_pos_4
|
| 190 |
+
- chassis_vel_1
|
| 191 |
+
- chassis_vel_2
|
| 192 |
+
- chassis_vel_3
|
| 193 |
+
- chassis_vel_4
|
| 194 |
+
- base_pos_x_m
|
| 195 |
+
- base_pos_y_m
|
| 196 |
+
- base_orient_quat_z
|
| 197 |
+
- base_orient_quat_w
|
| 198 |
+
- base_vel_x_m_s
|
| 199 |
+
- base_vel_y_m_s
|
| 200 |
+
- base_vel_angular_z_rad_s
|
| 201 |
+
shape:
|
| 202 |
+
- 38
|
| 203 |
+
observation.state:
|
| 204 |
+
dtype: float32
|
| 205 |
+
names:
|
| 206 |
+
- right_arm_joint_1_rad
|
| 207 |
+
- right_arm_joint_2_rad
|
| 208 |
+
- right_arm_joint_3_rad
|
| 209 |
+
- right_arm_joint_4_rad
|
| 210 |
+
- right_arm_joint_5_rad
|
| 211 |
+
- right_arm_joint_6_rad
|
| 212 |
+
- right_arm_joint_7_rad
|
| 213 |
+
- right_gripper_open
|
| 214 |
+
- left_arm_joint_1_rad
|
| 215 |
+
- left_arm_joint_2_rad
|
| 216 |
+
- left_arm_joint_3_rad
|
| 217 |
+
- left_arm_joint_4_rad
|
| 218 |
+
- left_arm_joint_5_rad
|
| 219 |
+
- left_arm_joint_6_rad
|
| 220 |
+
- left_arm_joint_7_rad
|
| 221 |
+
- left_gripper_open
|
| 222 |
+
- torso_joint_1_rad
|
| 223 |
+
- torso_joint_2_rad
|
| 224 |
+
- torso_joint_3_rad
|
| 225 |
+
- torso_joint_4_rad
|
| 226 |
+
- torso_joint_5_rad
|
| 227 |
+
- head_joint_1_rad
|
| 228 |
+
- head_joint_2_rad
|
| 229 |
+
- chassis_pos_1
|
| 230 |
+
- chassis_pos_2
|
| 231 |
+
- chassis_pos_3
|
| 232 |
+
- chassis_pos_4
|
| 233 |
+
- chassis_vel_1
|
| 234 |
+
- chassis_vel_2
|
| 235 |
+
- chassis_vel_3
|
| 236 |
+
- chassis_vel_4
|
| 237 |
+
- base_pos_x_m
|
| 238 |
+
- base_pos_y_m
|
| 239 |
+
- base_orient_quat_z
|
| 240 |
+
- base_orient_quat_w
|
| 241 |
+
- base_vel_x_m_s
|
| 242 |
+
- base_vel_y_m_s
|
| 243 |
+
- base_vel_angular_z_rad_s
|
| 244 |
+
shape:
|
| 245 |
+
- 38
|
| 246 |
+
observation.images.cam_right_head_rgb:
|
| 247 |
+
dtype: video
|
| 248 |
+
shape:
|
| 249 |
+
- 720
|
| 250 |
+
- 960
|
| 251 |
+
- 3
|
| 252 |
+
names:
|
| 253 |
+
- height
|
| 254 |
+
- width
|
| 255 |
+
- channels
|
| 256 |
+
info:
|
| 257 |
+
video.fps: 30
|
| 258 |
+
video.height: 720
|
| 259 |
+
video.width: 960
|
| 260 |
+
video.channels: 3
|
| 261 |
+
video.codec: libx264
|
| 262 |
+
video.pix_fmt: yuv420p
|
| 263 |
+
video.is_depth_map: false
|
| 264 |
+
has_audio: false
|
| 265 |
+
observation.images.cam_left_head_rgb:
|
| 266 |
+
dtype: video
|
| 267 |
+
shape:
|
| 268 |
+
- 720
|
| 269 |
+
- 960
|
| 270 |
+
- 3
|
| 271 |
+
names:
|
| 272 |
+
- height
|
| 273 |
+
- width
|
| 274 |
+
- channels
|
| 275 |
+
info:
|
| 276 |
+
video.fps: 30
|
| 277 |
+
video.height: 720
|
| 278 |
+
video.width: 960
|
| 279 |
+
video.channels: 3
|
| 280 |
+
video.codec: libx264
|
| 281 |
+
video.pix_fmt: yuv420p
|
| 282 |
+
video.is_depth_map: false
|
| 283 |
+
has_audio: false
|
| 284 |
+
observation.images.cam_right_wrist_rgb:
|
| 285 |
+
dtype: video
|
| 286 |
+
shape:
|
| 287 |
+
- 720
|
| 288 |
+
- 960
|
| 289 |
+
- 3
|
| 290 |
+
names:
|
| 291 |
+
- height
|
| 292 |
+
- width
|
| 293 |
+
- channels
|
| 294 |
+
info:
|
| 295 |
+
video.fps: 30
|
| 296 |
+
video.height: 720
|
| 297 |
+
video.width: 960
|
| 298 |
+
video.channels: 3
|
| 299 |
+
video.codec: libx264
|
| 300 |
+
video.pix_fmt: yuv420p
|
| 301 |
+
video.is_depth_map: false
|
| 302 |
+
has_audio: false
|
| 303 |
+
observation.images.cam_left_wrist_rgb:
|
| 304 |
+
dtype: video
|
| 305 |
+
shape:
|
| 306 |
+
- 720
|
| 307 |
+
- 960
|
| 308 |
+
- 3
|
| 309 |
+
names:
|
| 310 |
+
- height
|
| 311 |
+
- width
|
| 312 |
+
- channels
|
| 313 |
+
info:
|
| 314 |
+
video.fps: 30
|
| 315 |
+
video.height: 720
|
| 316 |
+
video.width: 960
|
| 317 |
+
video.channels: 3
|
| 318 |
+
video.codec: libx264
|
| 319 |
+
video.pix_fmt: yuv420p
|
| 320 |
+
video.is_depth_map: false
|
| 321 |
+
has_audio: false
|
| 322 |
+
timestamp:
|
| 323 |
+
dtype: float32
|
| 324 |
+
shape:
|
| 325 |
+
- 1
|
| 326 |
+
names: null
|
| 327 |
+
frame_index:
|
| 328 |
+
dtype: int64
|
| 329 |
+
shape:
|
| 330 |
+
- 1
|
| 331 |
+
names: null
|
| 332 |
+
episode_index:
|
| 333 |
+
dtype: int64
|
| 334 |
+
shape:
|
| 335 |
+
- 1
|
| 336 |
+
names: null
|
| 337 |
+
index:
|
| 338 |
+
dtype: int64
|
| 339 |
+
shape:
|
| 340 |
+
- 1
|
| 341 |
+
names: null
|
| 342 |
+
task_index:
|
| 343 |
+
dtype: int64
|
| 344 |
+
shape:
|
| 345 |
+
- 1
|
| 346 |
+
names: null
|
| 347 |
+
gripper_open_scale_state:
|
| 348 |
+
names:
|
| 349 |
+
- left_gripper_open_scale
|
| 350 |
+
- right_gripper_open_scale
|
| 351 |
+
dtype: float64
|
| 352 |
+
shape:
|
| 353 |
+
- 2
|
| 354 |
+
gripper_open_scale_action:
|
| 355 |
+
names:
|
| 356 |
+
- left_gripper_open_scale
|
| 357 |
+
- right_gripper_open_scale
|
| 358 |
+
dtype: float64
|
| 359 |
+
shape:
|
| 360 |
+
- 2
|
| 361 |
+
eef_sim_pose_state:
|
| 362 |
+
names:
|
| 363 |
+
- left_eef_pos_x
|
| 364 |
+
- left_eef_pos_y
|
| 365 |
+
- left_eef_pos_z
|
| 366 |
+
- left_eef_rot_x
|
| 367 |
+
- left_eef_rot_y
|
| 368 |
+
- left_eef_rot_z
|
| 369 |
+
- right_eef_pos_x
|
| 370 |
+
- right_eef_pos_y
|
| 371 |
+
- right_eef_pos_z
|
| 372 |
+
- right_eef_rot_x
|
| 373 |
+
- right_eef_rot_y
|
| 374 |
+
- right_eef_rot_z
|
| 375 |
+
dtype: float32
|
| 376 |
+
shape:
|
| 377 |
+
- 12
|
| 378 |
+
eef_sim_pose_action:
|
| 379 |
+
names:
|
| 380 |
+
- left_eef_pos_x
|
| 381 |
+
- left_eef_pos_y
|
| 382 |
+
- left_eef_pos_z
|
| 383 |
+
- left_eef_rot_x
|
| 384 |
+
- left_eef_rot_y
|
| 385 |
+
- left_eef_rot_z
|
| 386 |
+
- right_eef_pos_x
|
| 387 |
+
- right_eef_pos_y
|
| 388 |
+
- right_eef_pos_z
|
| 389 |
+
- right_eef_rot_x
|
| 390 |
+
- right_eef_rot_y
|
| 391 |
+
- right_eef_rot_z
|
| 392 |
+
dtype: float32
|
| 393 |
+
shape:
|
| 394 |
+
- 12
|
| 395 |
+
eef_direction_state:
|
| 396 |
+
names:
|
| 397 |
+
- left_eef_direction
|
| 398 |
+
- right_eef_direction
|
| 399 |
+
dtype: int32
|
| 400 |
+
shape:
|
| 401 |
+
- 2
|
| 402 |
+
eef_direction_action:
|
| 403 |
+
names:
|
| 404 |
+
- left_eef_direction
|
| 405 |
+
- right_eef_direction
|
| 406 |
+
dtype: int32
|
| 407 |
+
shape:
|
| 408 |
+
- 2
|
| 409 |
+
eef_velocity_state:
|
| 410 |
+
names:
|
| 411 |
+
- left_eef_velocity
|
| 412 |
+
- right_eef_velocity
|
| 413 |
+
dtype: int32
|
| 414 |
+
shape:
|
| 415 |
+
- 2
|
| 416 |
+
eef_velocity_action:
|
| 417 |
+
names:
|
| 418 |
+
- left_eef_velocity
|
| 419 |
+
- right_eef_velocity
|
| 420 |
+
dtype: int32
|
| 421 |
+
shape:
|
| 422 |
+
- 2
|
| 423 |
+
eef_acc_mag_state:
|
| 424 |
+
names:
|
| 425 |
+
- left_eef_acc_mag
|
| 426 |
+
- right_eef_acc_mag
|
| 427 |
+
dtype: int32
|
| 428 |
+
shape:
|
| 429 |
+
- 2
|
| 430 |
+
eef_acc_mag_action:
|
| 431 |
+
names:
|
| 432 |
+
- left_eef_acc_mag
|
| 433 |
+
- right_eef_acc_mag
|
| 434 |
+
dtype: int32
|
| 435 |
+
shape:
|
| 436 |
+
- 2
|
| 437 |
+
gripper_mode_state:
|
| 438 |
+
names:
|
| 439 |
+
- left_gripper_mode
|
| 440 |
+
- right_gripper_mode
|
| 441 |
+
dtype: int32
|
| 442 |
+
shape:
|
| 443 |
+
- 2
|
| 444 |
+
gripper_mode_action:
|
| 445 |
+
names:
|
| 446 |
+
- left_gripper_mode
|
| 447 |
+
- right_gripper_mode
|
| 448 |
+
dtype: int32
|
| 449 |
+
shape:
|
| 450 |
+
- 2
|
| 451 |
+
gripper_activity_state:
|
| 452 |
+
names:
|
| 453 |
+
- left_gripper_activity
|
| 454 |
+
- right_gripper_activity
|
| 455 |
+
dtype: int32
|
| 456 |
+
shape:
|
| 457 |
+
- 2
|
| 458 |
+
gripper_activity_action:
|
| 459 |
+
names:
|
| 460 |
+
- left_gripper_activity
|
| 461 |
+
- right_gripper_activity
|
| 462 |
+
dtype: int32
|
| 463 |
+
shape:
|
| 464 |
+
- 2
|
| 465 |
+
authors:
|
| 466 |
+
contributed_by:
|
| 467 |
+
- name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
|
| 468 |
+
dataset_description: This dataset uses an extended format based on LeRobot and is
|
| 469 |
+
fully compatible with LeRobot.
|
| 470 |
+
homepage: https://flagopen.github.io/RoboCOIN/
|
| 471 |
+
paper: https://arxiv.org/abs/2511.17441
|
| 472 |
+
repository: https://github.com/FlagOpen/RoboCOIN
|
| 473 |
+
contact_info: For questions, issues, or feedback regarding this dataset, please contact
|
| 474 |
+
us.
|
| 475 |
+
support_info: For technical support, please open an issue on our GitHub repository.
|
| 476 |
+
license_details: apache-2.0
|
| 477 |
+
citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\
|
| 478 |
+
\ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\
|
| 479 |
+
\ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
|
| 480 |
+
\ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
|
| 481 |
+
\ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
|
| 482 |
+
\ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
|
| 483 |
+
\ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
|
| 484 |
+
\ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
|
| 485 |
+
\ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
|
| 486 |
+
\ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
|
| 487 |
+
\ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
|
| 488 |
+
\ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
|
| 489 |
+
\ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
|
| 490 |
+
\ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
|
| 491 |
+
\ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\
|
| 492 |
+
\ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n"
|
| 493 |
+
additional_citations: 'If you use this dataset, please also consider citing:
|
| 494 |
+
|
| 495 |
+
LeRobot Framework: https://github.com/huggingface/lerobot
|
| 496 |
+
|
| 497 |
+
'
|
| 498 |
+
version_info: Initial Release
|
| 499 |
+
data_path: data/chunk-{id}/episode_{id}.parquet
|
| 500 |
+
video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
|
| 501 |
+
video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4
|
dataset_info/Galbot_G1_pull_curtain.yaml
ADDED
|
@@ -0,0 +1,489 @@
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|
|
|
| 1 |
+
task_categories:
|
| 2 |
+
- robotics
|
| 3 |
+
language:
|
| 4 |
+
- en
|
| 5 |
+
tags:
|
| 6 |
+
- RoboCOIN
|
| 7 |
+
- LeRobot
|
| 8 |
+
license: apache-2.0
|
| 9 |
+
configs:
|
| 10 |
+
- config_name: default
|
| 11 |
+
data_files: data/chunk-{id}/episode_{id}.parquet
|
| 12 |
+
extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
|
| 13 |
+
in your research/publications—see the "Citation" section for details. You agree
|
| 14 |
+
to not use the dataset to conduct experiments that cause harm to human subjects.
|
| 15 |
+
extra_gated_fields:
|
| 16 |
+
Company/Organization:
|
| 17 |
+
type: text
|
| 18 |
+
description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
|
| 19 |
+
Country:
|
| 20 |
+
type: country
|
| 21 |
+
description: e.g., "Germany", "China", "United States"
|
| 22 |
+
codebase_version: v2.1
|
| 23 |
+
dataset_name: Galbot_G1_pull_curtain
|
| 24 |
+
dataset_uuid: 40898e29-ad6c-4f0b-ac61-4946634128cd
|
| 25 |
+
scene_type:
|
| 26 |
+
level1: Household
|
| 27 |
+
level2: Bedroom
|
| 28 |
+
level3: null
|
| 29 |
+
level4: null
|
| 30 |
+
level5: null
|
| 31 |
+
env_type: real_world
|
| 32 |
+
objects:
|
| 33 |
+
- id: curtain
|
| 34 |
+
name: curtain
|
| 35 |
+
color: white
|
| 36 |
+
anchor_policy: static
|
| 37 |
+
task_operation_type: mobile_dual_arm
|
| 38 |
+
task_instruction: Open the curtains by pulling them apart, changing their state from
|
| 39 |
+
closed to fully open
|
| 40 |
+
sub_tasks:
|
| 41 |
+
- Open the curtains by pulling them apart, changing their state from closed to fully
|
| 42 |
+
open
|
| 43 |
+
atomic_actions:
|
| 44 |
+
- move
|
| 45 |
+
- grasp
|
| 46 |
+
- pull
|
| 47 |
+
robot_name: Galbot_G1
|
| 48 |
+
end_effector_type: two_finger_end_effector
|
| 49 |
+
tele_type: master_arm
|
| 50 |
+
sensor_list:
|
| 51 |
+
- cam_right_head_rgb
|
| 52 |
+
- cam_left_head_rgb
|
| 53 |
+
- cam_right_wrist_rgb
|
| 54 |
+
- cam_left_wrist_rgb
|
| 55 |
+
came_info:
|
| 56 |
+
cam_right_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 57 |
+
pix_fmt=yuv420p
|
| 58 |
+
cam_left_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 59 |
+
pix_fmt=yuv420p
|
| 60 |
+
cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 61 |
+
pix_fmt=yuv420p
|
| 62 |
+
cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 63 |
+
pix_fmt=yuv420p
|
| 64 |
+
depth_enabled: false
|
| 65 |
+
coordinate_definition: right-hand-frame
|
| 66 |
+
joint_rotation_dim: radian
|
| 67 |
+
end_rotation_dim: radian
|
| 68 |
+
end_translation_dim: meter
|
| 69 |
+
annotations:
|
| 70 |
+
- eef_acc_mag_annotation.jsonl
|
| 71 |
+
- eef_direction_annotation.jsonl
|
| 72 |
+
- eef_velocity_annotation.jsonl
|
| 73 |
+
- gripper_activity_annotation.jsonl
|
| 74 |
+
- gripper_mode_annotation.jsonl
|
| 75 |
+
statistics:
|
| 76 |
+
total_episodes: 197
|
| 77 |
+
total_frames: 280380
|
| 78 |
+
fps: 30
|
| 79 |
+
total_tasks: 1
|
| 80 |
+
total_videos: 788
|
| 81 |
+
total_chunks: 1
|
| 82 |
+
chunks_size: 10000
|
| 83 |
+
state_dim: 31
|
| 84 |
+
action_dim: 31
|
| 85 |
+
camera_views: 4
|
| 86 |
+
dataset_size: 13.85 GB
|
| 87 |
+
frame_num: 280380
|
| 88 |
+
frame_range: 1M
|
| 89 |
+
dataset_size: 13.85 GB
|
| 90 |
+
data_structure: 'Galbot_G1_pull_curtain_0_qced_hardlink/
|
| 91 |
+
|
| 92 |
+
|-- annotations
|
| 93 |
+
|
| 94 |
+
| |-- eef_acc_mag_annotation.jsonl
|
| 95 |
+
|
| 96 |
+
| |-- eef_direction_annotation.jsonl
|
| 97 |
+
|
| 98 |
+
| |-- eef_velocity_annotation.jsonl
|
| 99 |
+
|
| 100 |
+
| |-- gripper_activity_annotation.jsonl
|
| 101 |
+
|
| 102 |
+
| `-- gripper_mode_annotation.jsonl
|
| 103 |
+
|
| 104 |
+
|-- data
|
| 105 |
+
|
| 106 |
+
| `-- chunk-000
|
| 107 |
+
|
| 108 |
+
| |-- episode_000000.parquet
|
| 109 |
+
|
| 110 |
+
| |-- episode_000001.parquet
|
| 111 |
+
|
| 112 |
+
| |-- episode_000002.parquet
|
| 113 |
+
|
| 114 |
+
| |-- episode_000003.parquet
|
| 115 |
+
|
| 116 |
+
| |-- episode_000004.parquet
|
| 117 |
+
|
| 118 |
+
| |-- episode_000005.parquet
|
| 119 |
+
|
| 120 |
+
| |-- episode_000006.parquet
|
| 121 |
+
|
| 122 |
+
| |-- episode_000007.parquet
|
| 123 |
+
|
| 124 |
+
| |-- episode_000008.parquet
|
| 125 |
+
|
| 126 |
+
| |-- episode_000009.parquet
|
| 127 |
+
|
| 128 |
+
| |-- episode_000010.parquet
|
| 129 |
+
|
| 130 |
+
| `-- episode_000011.parquet
|
| 131 |
+
|
| 132 |
+
| `-- ... (185 more entries)
|
| 133 |
+
|
| 134 |
+
|-- meta
|
| 135 |
+
|
| 136 |
+
| |-- episodes.jsonl
|
| 137 |
+
|
| 138 |
+
| |-- episodes_stats.jsonl
|
| 139 |
+
|
| 140 |
+
| |-- info.json
|
| 141 |
+
|
| 142 |
+
| `-- tasks.jsonl
|
| 143 |
+
|
| 144 |
+
|-- videos
|
| 145 |
+
|
| 146 |
+
| `-- chunk-000
|
| 147 |
+
|
| 148 |
+
| |-- observation.images.cam_left_head_rgb
|
| 149 |
+
|
| 150 |
+
| |-- observation.images.cam_left_wrist_rgb
|
| 151 |
+
|
| 152 |
+
| |-- observation.images.cam_right_head_rgb
|
| 153 |
+
|
| 154 |
+
| `-- observation.images.cam_right_wrist_rgb
|
| 155 |
+
|
| 156 |
+
|-- info.yaml
|
| 157 |
+
|
| 158 |
+
`-- README.md'
|
| 159 |
+
splits:
|
| 160 |
+
train: 0:196
|
| 161 |
+
features:
|
| 162 |
+
action:
|
| 163 |
+
dtype: float32
|
| 164 |
+
names:
|
| 165 |
+
- right_arm_joint_1_rad
|
| 166 |
+
- right_arm_joint_2_rad
|
| 167 |
+
- right_arm_joint_3_rad
|
| 168 |
+
- right_arm_joint_4_rad
|
| 169 |
+
- right_arm_joint_5_rad
|
| 170 |
+
- right_arm_joint_6_rad
|
| 171 |
+
- right_arm_joint_7_rad
|
| 172 |
+
- right_gripper_open
|
| 173 |
+
- left_arm_joint_1_rad
|
| 174 |
+
- left_arm_joint_2_rad
|
| 175 |
+
- left_arm_joint_3_rad
|
| 176 |
+
- left_arm_joint_4_rad
|
| 177 |
+
- left_arm_joint_5_rad
|
| 178 |
+
- left_arm_joint_6_rad
|
| 179 |
+
- left_arm_joint_7_rad
|
| 180 |
+
- left_gripper_open
|
| 181 |
+
- torso_joint_1_rad
|
| 182 |
+
- torso_joint_2_rad
|
| 183 |
+
- torso_joint_3_rad
|
| 184 |
+
- torso_joint_4_rad
|
| 185 |
+
- torso_joint_5_rad
|
| 186 |
+
- head_joint_1_rad
|
| 187 |
+
- head_joint_2_rad
|
| 188 |
+
- chassis_pos_1
|
| 189 |
+
- chassis_pos_2
|
| 190 |
+
- chassis_pos_3
|
| 191 |
+
- chassis_pos_4
|
| 192 |
+
- chassis_vel_1
|
| 193 |
+
- chassis_vel_2
|
| 194 |
+
- chassis_vel_3
|
| 195 |
+
- chassis_vel_4
|
| 196 |
+
shape:
|
| 197 |
+
- 31
|
| 198 |
+
observation.state:
|
| 199 |
+
dtype: float32
|
| 200 |
+
names:
|
| 201 |
+
- right_arm_joint_1_rad
|
| 202 |
+
- right_arm_joint_2_rad
|
| 203 |
+
- right_arm_joint_3_rad
|
| 204 |
+
- right_arm_joint_4_rad
|
| 205 |
+
- right_arm_joint_5_rad
|
| 206 |
+
- right_arm_joint_6_rad
|
| 207 |
+
- right_arm_joint_7_rad
|
| 208 |
+
- right_gripper_open
|
| 209 |
+
- left_arm_joint_1_rad
|
| 210 |
+
- left_arm_joint_2_rad
|
| 211 |
+
- left_arm_joint_3_rad
|
| 212 |
+
- left_arm_joint_4_rad
|
| 213 |
+
- left_arm_joint_5_rad
|
| 214 |
+
- left_arm_joint_6_rad
|
| 215 |
+
- left_arm_joint_7_rad
|
| 216 |
+
- left_gripper_open
|
| 217 |
+
- torso_joint_1_rad
|
| 218 |
+
- torso_joint_2_rad
|
| 219 |
+
- torso_joint_3_rad
|
| 220 |
+
- torso_joint_4_rad
|
| 221 |
+
- torso_joint_5_rad
|
| 222 |
+
- head_joint_1_rad
|
| 223 |
+
- head_joint_2_rad
|
| 224 |
+
- chassis_pos_1
|
| 225 |
+
- chassis_pos_2
|
| 226 |
+
- chassis_pos_3
|
| 227 |
+
- chassis_pos_4
|
| 228 |
+
- chassis_vel_1
|
| 229 |
+
- chassis_vel_2
|
| 230 |
+
- chassis_vel_3
|
| 231 |
+
- chassis_vel_4
|
| 232 |
+
shape:
|
| 233 |
+
- 31
|
| 234 |
+
observation.images.cam_right_head_rgb:
|
| 235 |
+
dtype: video
|
| 236 |
+
shape:
|
| 237 |
+
- 480
|
| 238 |
+
- 640
|
| 239 |
+
- 3
|
| 240 |
+
names:
|
| 241 |
+
- height
|
| 242 |
+
- width
|
| 243 |
+
- channels
|
| 244 |
+
info:
|
| 245 |
+
video.fps: 30
|
| 246 |
+
video.height: 480
|
| 247 |
+
video.width: 640
|
| 248 |
+
video.channels: 3
|
| 249 |
+
video.codec: libx264
|
| 250 |
+
video.pix_fmt: yuv420p
|
| 251 |
+
video.is_depth_map: false
|
| 252 |
+
has_audio: false
|
| 253 |
+
observation.images.cam_left_head_rgb:
|
| 254 |
+
dtype: video
|
| 255 |
+
shape:
|
| 256 |
+
- 480
|
| 257 |
+
- 640
|
| 258 |
+
- 3
|
| 259 |
+
names:
|
| 260 |
+
- height
|
| 261 |
+
- width
|
| 262 |
+
- channels
|
| 263 |
+
info:
|
| 264 |
+
video.fps: 30
|
| 265 |
+
video.height: 480
|
| 266 |
+
video.width: 640
|
| 267 |
+
video.channels: 3
|
| 268 |
+
video.codec: libx264
|
| 269 |
+
video.pix_fmt: yuv420p
|
| 270 |
+
video.is_depth_map: false
|
| 271 |
+
has_audio: false
|
| 272 |
+
observation.images.cam_right_wrist_rgb:
|
| 273 |
+
dtype: video
|
| 274 |
+
shape:
|
| 275 |
+
- 480
|
| 276 |
+
- 640
|
| 277 |
+
- 3
|
| 278 |
+
names:
|
| 279 |
+
- height
|
| 280 |
+
- width
|
| 281 |
+
- channels
|
| 282 |
+
info:
|
| 283 |
+
video.fps: 30
|
| 284 |
+
video.height: 480
|
| 285 |
+
video.width: 640
|
| 286 |
+
video.channels: 3
|
| 287 |
+
video.codec: libx264
|
| 288 |
+
video.pix_fmt: yuv420p
|
| 289 |
+
video.is_depth_map: false
|
| 290 |
+
has_audio: false
|
| 291 |
+
observation.images.cam_left_wrist_rgb:
|
| 292 |
+
dtype: video
|
| 293 |
+
shape:
|
| 294 |
+
- 480
|
| 295 |
+
- 640
|
| 296 |
+
- 3
|
| 297 |
+
names:
|
| 298 |
+
- height
|
| 299 |
+
- width
|
| 300 |
+
- channels
|
| 301 |
+
info:
|
| 302 |
+
video.fps: 30
|
| 303 |
+
video.height: 480
|
| 304 |
+
video.width: 640
|
| 305 |
+
video.channels: 3
|
| 306 |
+
video.codec: libx264
|
| 307 |
+
video.pix_fmt: yuv420p
|
| 308 |
+
video.is_depth_map: false
|
| 309 |
+
has_audio: false
|
| 310 |
+
timestamp:
|
| 311 |
+
dtype: float32
|
| 312 |
+
shape:
|
| 313 |
+
- 1
|
| 314 |
+
names: null
|
| 315 |
+
frame_index:
|
| 316 |
+
dtype: int64
|
| 317 |
+
shape:
|
| 318 |
+
- 1
|
| 319 |
+
names: null
|
| 320 |
+
episode_index:
|
| 321 |
+
dtype: int64
|
| 322 |
+
shape:
|
| 323 |
+
- 1
|
| 324 |
+
names: null
|
| 325 |
+
index:
|
| 326 |
+
dtype: int64
|
| 327 |
+
shape:
|
| 328 |
+
- 1
|
| 329 |
+
names: null
|
| 330 |
+
task_index:
|
| 331 |
+
dtype: int64
|
| 332 |
+
shape:
|
| 333 |
+
- 1
|
| 334 |
+
names: null
|
| 335 |
+
gripper_open_scale_state:
|
| 336 |
+
names:
|
| 337 |
+
- left_gripper_open_scale
|
| 338 |
+
- right_gripper_open_scale
|
| 339 |
+
dtype: float64
|
| 340 |
+
shape:
|
| 341 |
+
- 2
|
| 342 |
+
gripper_open_scale_action:
|
| 343 |
+
names:
|
| 344 |
+
- left_gripper_open_scale
|
| 345 |
+
- right_gripper_open_scale
|
| 346 |
+
dtype: float64
|
| 347 |
+
shape:
|
| 348 |
+
- 2
|
| 349 |
+
eef_sim_pose_state:
|
| 350 |
+
names:
|
| 351 |
+
- left_eef_pos_x
|
| 352 |
+
- left_eef_pos_y
|
| 353 |
+
- left_eef_pos_z
|
| 354 |
+
- left_eef_rot_x
|
| 355 |
+
- left_eef_rot_y
|
| 356 |
+
- left_eef_rot_z
|
| 357 |
+
- right_eef_pos_x
|
| 358 |
+
- right_eef_pos_y
|
| 359 |
+
- right_eef_pos_z
|
| 360 |
+
- right_eef_rot_x
|
| 361 |
+
- right_eef_rot_y
|
| 362 |
+
- right_eef_rot_z
|
| 363 |
+
dtype: float32
|
| 364 |
+
shape:
|
| 365 |
+
- 12
|
| 366 |
+
eef_sim_pose_action:
|
| 367 |
+
names:
|
| 368 |
+
- left_eef_pos_x
|
| 369 |
+
- left_eef_pos_y
|
| 370 |
+
- left_eef_pos_z
|
| 371 |
+
- left_eef_rot_x
|
| 372 |
+
- left_eef_rot_y
|
| 373 |
+
- left_eef_rot_z
|
| 374 |
+
- right_eef_pos_x
|
| 375 |
+
- right_eef_pos_y
|
| 376 |
+
- right_eef_pos_z
|
| 377 |
+
- right_eef_rot_x
|
| 378 |
+
- right_eef_rot_y
|
| 379 |
+
- right_eef_rot_z
|
| 380 |
+
dtype: float32
|
| 381 |
+
shape:
|
| 382 |
+
- 12
|
| 383 |
+
eef_direction_state:
|
| 384 |
+
names:
|
| 385 |
+
- left_eef_direction
|
| 386 |
+
- right_eef_direction
|
| 387 |
+
dtype: int32
|
| 388 |
+
shape:
|
| 389 |
+
- 2
|
| 390 |
+
eef_direction_action:
|
| 391 |
+
names:
|
| 392 |
+
- left_eef_direction
|
| 393 |
+
- right_eef_direction
|
| 394 |
+
dtype: int32
|
| 395 |
+
shape:
|
| 396 |
+
- 2
|
| 397 |
+
eef_velocity_state:
|
| 398 |
+
names:
|
| 399 |
+
- left_eef_velocity
|
| 400 |
+
- right_eef_velocity
|
| 401 |
+
dtype: int32
|
| 402 |
+
shape:
|
| 403 |
+
- 2
|
| 404 |
+
eef_velocity_action:
|
| 405 |
+
names:
|
| 406 |
+
- left_eef_velocity
|
| 407 |
+
- right_eef_velocity
|
| 408 |
+
dtype: int32
|
| 409 |
+
shape:
|
| 410 |
+
- 2
|
| 411 |
+
eef_acc_mag_state:
|
| 412 |
+
names:
|
| 413 |
+
- left_eef_acc_mag
|
| 414 |
+
- right_eef_acc_mag
|
| 415 |
+
dtype: int32
|
| 416 |
+
shape:
|
| 417 |
+
- 2
|
| 418 |
+
eef_acc_mag_action:
|
| 419 |
+
names:
|
| 420 |
+
- left_eef_acc_mag
|
| 421 |
+
- right_eef_acc_mag
|
| 422 |
+
dtype: int32
|
| 423 |
+
shape:
|
| 424 |
+
- 2
|
| 425 |
+
gripper_mode_state:
|
| 426 |
+
names:
|
| 427 |
+
- left_gripper_mode
|
| 428 |
+
- right_gripper_mode
|
| 429 |
+
dtype: int32
|
| 430 |
+
shape:
|
| 431 |
+
- 2
|
| 432 |
+
gripper_mode_action:
|
| 433 |
+
names:
|
| 434 |
+
- left_gripper_mode
|
| 435 |
+
- right_gripper_mode
|
| 436 |
+
dtype: int32
|
| 437 |
+
shape:
|
| 438 |
+
- 2
|
| 439 |
+
gripper_activity_state:
|
| 440 |
+
names:
|
| 441 |
+
- left_gripper_activity
|
| 442 |
+
- right_gripper_activity
|
| 443 |
+
dtype: int32
|
| 444 |
+
shape:
|
| 445 |
+
- 2
|
| 446 |
+
gripper_activity_action:
|
| 447 |
+
names:
|
| 448 |
+
- left_gripper_activity
|
| 449 |
+
- right_gripper_activity
|
| 450 |
+
dtype: int32
|
| 451 |
+
shape:
|
| 452 |
+
- 2
|
| 453 |
+
authors:
|
| 454 |
+
contributed_by:
|
| 455 |
+
- name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
|
| 456 |
+
dataset_description: This dataset uses an extended format based on LeRobot and is
|
| 457 |
+
fully compatible with LeRobot.
|
| 458 |
+
homepage: https://flagopen.github.io/RoboCOIN/
|
| 459 |
+
paper: https://arxiv.org/abs/2511.17441
|
| 460 |
+
repository: https://github.com/FlagOpen/RoboCOIN
|
| 461 |
+
contact_info: For questions, issues, or feedback regarding this dataset, please contact
|
| 462 |
+
us.
|
| 463 |
+
support_info: For technical support, please open an issue on our GitHub repository.
|
| 464 |
+
license_details: apache-2.0
|
| 465 |
+
citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\
|
| 466 |
+
\ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\
|
| 467 |
+
\ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
|
| 468 |
+
\ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
|
| 469 |
+
\ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
|
| 470 |
+
\ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
|
| 471 |
+
\ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
|
| 472 |
+
\ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
|
| 473 |
+
\ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
|
| 474 |
+
\ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
|
| 475 |
+
\ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
|
| 476 |
+
\ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
|
| 477 |
+
\ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
|
| 478 |
+
\ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
|
| 479 |
+
\ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\
|
| 480 |
+
\ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n"
|
| 481 |
+
additional_citations: 'If you use this dataset, please also consider citing:
|
| 482 |
+
|
| 483 |
+
LeRobot Framework: https://github.com/huggingface/lerobot
|
| 484 |
+
|
| 485 |
+
'
|
| 486 |
+
version_info: Initial Release
|
| 487 |
+
data_path: data/chunk-{id}/episode_{id}.parquet
|
| 488 |
+
video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
|
| 489 |
+
video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4
|
dataset_info/Galbot_G1_scrub_toilet.yaml
ADDED
|
@@ -0,0 +1,495 @@
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|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
task_categories:
|
| 2 |
+
- robotics
|
| 3 |
+
language:
|
| 4 |
+
- en
|
| 5 |
+
tags:
|
| 6 |
+
- RoboCOIN
|
| 7 |
+
- LeRobot
|
| 8 |
+
license: apache-2.0
|
| 9 |
+
configs:
|
| 10 |
+
- config_name: default
|
| 11 |
+
data_files: data/chunk-{id}/episode_{id}.parquet
|
| 12 |
+
extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
|
| 13 |
+
in your research/publications—see the "Citation" section for details. You agree
|
| 14 |
+
to not use the dataset to conduct experiments that cause harm to human subjects.
|
| 15 |
+
extra_gated_fields:
|
| 16 |
+
Company/Organization:
|
| 17 |
+
type: text
|
| 18 |
+
description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
|
| 19 |
+
Country:
|
| 20 |
+
type: country
|
| 21 |
+
description: e.g., "Germany", "China", "United States"
|
| 22 |
+
codebase_version: v2.1
|
| 23 |
+
dataset_name: Galbot_G1_scrub_toilet
|
| 24 |
+
dataset_uuid: 3e3f3ef9-42d6-4fda-9a29-e504752e79e0
|
| 25 |
+
scene_type:
|
| 26 |
+
level1: Household
|
| 27 |
+
level2: Bathroom
|
| 28 |
+
level3: null
|
| 29 |
+
level4: null
|
| 30 |
+
level5: null
|
| 31 |
+
env_type: real_world
|
| 32 |
+
objects:
|
| 33 |
+
- id: toilet
|
| 34 |
+
name: toilet
|
| 35 |
+
color: white
|
| 36 |
+
anchor_policy: static
|
| 37 |
+
- id: toilet_brush_set
|
| 38 |
+
name: toilet brush set
|
| 39 |
+
color: red
|
| 40 |
+
anchor_policy: static
|
| 41 |
+
task_operation_type: mobile_dual_arm
|
| 42 |
+
task_instruction: Open the toilet lid, clean the toilet bowl with a toilet brush,
|
| 43 |
+
close the toilet lid, and flush.
|
| 44 |
+
sub_tasks:
|
| 45 |
+
- Open the toilet lid, clean the toilet bowl with a toilet brush, close the toilet
|
| 46 |
+
lid, and flush.
|
| 47 |
+
atomic_actions:
|
| 48 |
+
- grasp
|
| 49 |
+
- press
|
| 50 |
+
- wipe
|
| 51 |
+
- close
|
| 52 |
+
- open
|
| 53 |
+
robot_name: Galbot_G1
|
| 54 |
+
end_effector_type: two_finger_end_effector
|
| 55 |
+
tele_type: master_arm
|
| 56 |
+
sensor_list:
|
| 57 |
+
- cam_right_head_rgb
|
| 58 |
+
- cam_left_head_rgb
|
| 59 |
+
- cam_right_wrist_rgb
|
| 60 |
+
- cam_left_wrist_rgb
|
| 61 |
+
came_info:
|
| 62 |
+
cam_right_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 63 |
+
pix_fmt=yuv420p
|
| 64 |
+
cam_left_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 65 |
+
pix_fmt=yuv420p
|
| 66 |
+
cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 67 |
+
pix_fmt=yuv420p
|
| 68 |
+
cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 69 |
+
pix_fmt=yuv420p
|
| 70 |
+
depth_enabled: false
|
| 71 |
+
coordinate_definition: right-hand-frame
|
| 72 |
+
joint_rotation_dim: radian
|
| 73 |
+
end_rotation_dim: radian
|
| 74 |
+
end_translation_dim: meter
|
| 75 |
+
annotations:
|
| 76 |
+
- eef_acc_mag_annotation.jsonl
|
| 77 |
+
- eef_direction_annotation.jsonl
|
| 78 |
+
- eef_velocity_annotation.jsonl
|
| 79 |
+
- gripper_activity_annotation.jsonl
|
| 80 |
+
- gripper_mode_annotation.jsonl
|
| 81 |
+
statistics:
|
| 82 |
+
total_episodes: 187
|
| 83 |
+
total_frames: 537043
|
| 84 |
+
fps: 30
|
| 85 |
+
total_tasks: 1
|
| 86 |
+
total_videos: 748
|
| 87 |
+
total_chunks: 1
|
| 88 |
+
chunks_size: 10000
|
| 89 |
+
state_dim: 31
|
| 90 |
+
action_dim: 31
|
| 91 |
+
camera_views: 4
|
| 92 |
+
dataset_size: 17.60 GB
|
| 93 |
+
frame_num: 537043
|
| 94 |
+
frame_range: 1M
|
| 95 |
+
dataset_size: 17.60 GB
|
| 96 |
+
data_structure: 'Galbot_G1_scrub_toilet_0_qced_hardlink/
|
| 97 |
+
|
| 98 |
+
|-- annotations
|
| 99 |
+
|
| 100 |
+
| |-- eef_acc_mag_annotation.jsonl
|
| 101 |
+
|
| 102 |
+
| |-- eef_direction_annotation.jsonl
|
| 103 |
+
|
| 104 |
+
| |-- eef_velocity_annotation.jsonl
|
| 105 |
+
|
| 106 |
+
| |-- gripper_activity_annotation.jsonl
|
| 107 |
+
|
| 108 |
+
| `-- gripper_mode_annotation.jsonl
|
| 109 |
+
|
| 110 |
+
|-- data
|
| 111 |
+
|
| 112 |
+
| `-- chunk-000
|
| 113 |
+
|
| 114 |
+
| |-- episode_000000.parquet
|
| 115 |
+
|
| 116 |
+
| |-- episode_000001.parquet
|
| 117 |
+
|
| 118 |
+
| |-- episode_000002.parquet
|
| 119 |
+
|
| 120 |
+
| |-- episode_000003.parquet
|
| 121 |
+
|
| 122 |
+
| |-- episode_000004.parquet
|
| 123 |
+
|
| 124 |
+
| |-- episode_000005.parquet
|
| 125 |
+
|
| 126 |
+
| |-- episode_000006.parquet
|
| 127 |
+
|
| 128 |
+
| |-- episode_000007.parquet
|
| 129 |
+
|
| 130 |
+
| |-- episode_000008.parquet
|
| 131 |
+
|
| 132 |
+
| |-- episode_000009.parquet
|
| 133 |
+
|
| 134 |
+
| |-- episode_000010.parquet
|
| 135 |
+
|
| 136 |
+
| `-- episode_000011.parquet
|
| 137 |
+
|
| 138 |
+
| `-- ... (175 more entries)
|
| 139 |
+
|
| 140 |
+
|-- meta
|
| 141 |
+
|
| 142 |
+
| |-- episodes.jsonl
|
| 143 |
+
|
| 144 |
+
| |-- episodes_stats.jsonl
|
| 145 |
+
|
| 146 |
+
| |-- info.json
|
| 147 |
+
|
| 148 |
+
| `-- tasks.jsonl
|
| 149 |
+
|
| 150 |
+
|-- videos
|
| 151 |
+
|
| 152 |
+
| `-- chunk-000
|
| 153 |
+
|
| 154 |
+
| |-- observation.images.cam_left_head_rgb
|
| 155 |
+
|
| 156 |
+
| |-- observation.images.cam_left_wrist_rgb
|
| 157 |
+
|
| 158 |
+
| |-- observation.images.cam_right_head_rgb
|
| 159 |
+
|
| 160 |
+
| `-- observation.images.cam_right_wrist_rgb
|
| 161 |
+
|
| 162 |
+
|-- info.yaml
|
| 163 |
+
|
| 164 |
+
`-- README.md'
|
| 165 |
+
splits:
|
| 166 |
+
train: 0:186
|
| 167 |
+
features:
|
| 168 |
+
action:
|
| 169 |
+
dtype: float32
|
| 170 |
+
names:
|
| 171 |
+
- right_arm_joint_1_rad
|
| 172 |
+
- right_arm_joint_2_rad
|
| 173 |
+
- right_arm_joint_3_rad
|
| 174 |
+
- right_arm_joint_4_rad
|
| 175 |
+
- right_arm_joint_5_rad
|
| 176 |
+
- right_arm_joint_6_rad
|
| 177 |
+
- right_arm_joint_7_rad
|
| 178 |
+
- right_gripper_open
|
| 179 |
+
- left_arm_joint_1_rad
|
| 180 |
+
- left_arm_joint_2_rad
|
| 181 |
+
- left_arm_joint_3_rad
|
| 182 |
+
- left_arm_joint_4_rad
|
| 183 |
+
- left_arm_joint_5_rad
|
| 184 |
+
- left_arm_joint_6_rad
|
| 185 |
+
- left_arm_joint_7_rad
|
| 186 |
+
- left_gripper_open
|
| 187 |
+
- torso_joint_1_rad
|
| 188 |
+
- torso_joint_2_rad
|
| 189 |
+
- torso_joint_3_rad
|
| 190 |
+
- torso_joint_4_rad
|
| 191 |
+
- torso_joint_5_rad
|
| 192 |
+
- head_joint_1_rad
|
| 193 |
+
- head_joint_2_rad
|
| 194 |
+
- chassis_pos_1
|
| 195 |
+
- chassis_pos_2
|
| 196 |
+
- chassis_pos_3
|
| 197 |
+
- chassis_pos_4
|
| 198 |
+
- chassis_vel_1
|
| 199 |
+
- chassis_vel_2
|
| 200 |
+
- chassis_vel_3
|
| 201 |
+
- chassis_vel_4
|
| 202 |
+
shape:
|
| 203 |
+
- 31
|
| 204 |
+
observation.state:
|
| 205 |
+
dtype: float32
|
| 206 |
+
names:
|
| 207 |
+
- right_arm_joint_1_rad
|
| 208 |
+
- right_arm_joint_2_rad
|
| 209 |
+
- right_arm_joint_3_rad
|
| 210 |
+
- right_arm_joint_4_rad
|
| 211 |
+
- right_arm_joint_5_rad
|
| 212 |
+
- right_arm_joint_6_rad
|
| 213 |
+
- right_arm_joint_7_rad
|
| 214 |
+
- right_gripper_open
|
| 215 |
+
- left_arm_joint_1_rad
|
| 216 |
+
- left_arm_joint_2_rad
|
| 217 |
+
- left_arm_joint_3_rad
|
| 218 |
+
- left_arm_joint_4_rad
|
| 219 |
+
- left_arm_joint_5_rad
|
| 220 |
+
- left_arm_joint_6_rad
|
| 221 |
+
- left_arm_joint_7_rad
|
| 222 |
+
- left_gripper_open
|
| 223 |
+
- torso_joint_1_rad
|
| 224 |
+
- torso_joint_2_rad
|
| 225 |
+
- torso_joint_3_rad
|
| 226 |
+
- torso_joint_4_rad
|
| 227 |
+
- torso_joint_5_rad
|
| 228 |
+
- head_joint_1_rad
|
| 229 |
+
- head_joint_2_rad
|
| 230 |
+
- chassis_pos_1
|
| 231 |
+
- chassis_pos_2
|
| 232 |
+
- chassis_pos_3
|
| 233 |
+
- chassis_pos_4
|
| 234 |
+
- chassis_vel_1
|
| 235 |
+
- chassis_vel_2
|
| 236 |
+
- chassis_vel_3
|
| 237 |
+
- chassis_vel_4
|
| 238 |
+
shape:
|
| 239 |
+
- 31
|
| 240 |
+
observation.images.cam_right_head_rgb:
|
| 241 |
+
dtype: video
|
| 242 |
+
shape:
|
| 243 |
+
- 480
|
| 244 |
+
- 640
|
| 245 |
+
- 3
|
| 246 |
+
names:
|
| 247 |
+
- height
|
| 248 |
+
- width
|
| 249 |
+
- channels
|
| 250 |
+
info:
|
| 251 |
+
video.fps: 30
|
| 252 |
+
video.height: 480
|
| 253 |
+
video.width: 640
|
| 254 |
+
video.channels: 3
|
| 255 |
+
video.codec: libx264
|
| 256 |
+
video.pix_fmt: yuv420p
|
| 257 |
+
video.is_depth_map: false
|
| 258 |
+
has_audio: false
|
| 259 |
+
observation.images.cam_left_head_rgb:
|
| 260 |
+
dtype: video
|
| 261 |
+
shape:
|
| 262 |
+
- 480
|
| 263 |
+
- 640
|
| 264 |
+
- 3
|
| 265 |
+
names:
|
| 266 |
+
- height
|
| 267 |
+
- width
|
| 268 |
+
- channels
|
| 269 |
+
info:
|
| 270 |
+
video.fps: 30
|
| 271 |
+
video.height: 480
|
| 272 |
+
video.width: 640
|
| 273 |
+
video.channels: 3
|
| 274 |
+
video.codec: libx264
|
| 275 |
+
video.pix_fmt: yuv420p
|
| 276 |
+
video.is_depth_map: false
|
| 277 |
+
has_audio: false
|
| 278 |
+
observation.images.cam_right_wrist_rgb:
|
| 279 |
+
dtype: video
|
| 280 |
+
shape:
|
| 281 |
+
- 480
|
| 282 |
+
- 640
|
| 283 |
+
- 3
|
| 284 |
+
names:
|
| 285 |
+
- height
|
| 286 |
+
- width
|
| 287 |
+
- channels
|
| 288 |
+
info:
|
| 289 |
+
video.fps: 30
|
| 290 |
+
video.height: 480
|
| 291 |
+
video.width: 640
|
| 292 |
+
video.channels: 3
|
| 293 |
+
video.codec: libx264
|
| 294 |
+
video.pix_fmt: yuv420p
|
| 295 |
+
video.is_depth_map: false
|
| 296 |
+
has_audio: false
|
| 297 |
+
observation.images.cam_left_wrist_rgb:
|
| 298 |
+
dtype: video
|
| 299 |
+
shape:
|
| 300 |
+
- 480
|
| 301 |
+
- 640
|
| 302 |
+
- 3
|
| 303 |
+
names:
|
| 304 |
+
- height
|
| 305 |
+
- width
|
| 306 |
+
- channels
|
| 307 |
+
info:
|
| 308 |
+
video.fps: 30
|
| 309 |
+
video.height: 480
|
| 310 |
+
video.width: 640
|
| 311 |
+
video.channels: 3
|
| 312 |
+
video.codec: libx264
|
| 313 |
+
video.pix_fmt: yuv420p
|
| 314 |
+
video.is_depth_map: false
|
| 315 |
+
has_audio: false
|
| 316 |
+
timestamp:
|
| 317 |
+
dtype: float32
|
| 318 |
+
shape:
|
| 319 |
+
- 1
|
| 320 |
+
names: null
|
| 321 |
+
frame_index:
|
| 322 |
+
dtype: int64
|
| 323 |
+
shape:
|
| 324 |
+
- 1
|
| 325 |
+
names: null
|
| 326 |
+
episode_index:
|
| 327 |
+
dtype: int64
|
| 328 |
+
shape:
|
| 329 |
+
- 1
|
| 330 |
+
names: null
|
| 331 |
+
index:
|
| 332 |
+
dtype: int64
|
| 333 |
+
shape:
|
| 334 |
+
- 1
|
| 335 |
+
names: null
|
| 336 |
+
task_index:
|
| 337 |
+
dtype: int64
|
| 338 |
+
shape:
|
| 339 |
+
- 1
|
| 340 |
+
names: null
|
| 341 |
+
gripper_open_scale_state:
|
| 342 |
+
names:
|
| 343 |
+
- left_gripper_open_scale
|
| 344 |
+
- right_gripper_open_scale
|
| 345 |
+
dtype: float64
|
| 346 |
+
shape:
|
| 347 |
+
- 2
|
| 348 |
+
gripper_open_scale_action:
|
| 349 |
+
names:
|
| 350 |
+
- left_gripper_open_scale
|
| 351 |
+
- right_gripper_open_scale
|
| 352 |
+
dtype: float64
|
| 353 |
+
shape:
|
| 354 |
+
- 2
|
| 355 |
+
eef_sim_pose_state:
|
| 356 |
+
names:
|
| 357 |
+
- left_eef_pos_x
|
| 358 |
+
- left_eef_pos_y
|
| 359 |
+
- left_eef_pos_z
|
| 360 |
+
- left_eef_rot_x
|
| 361 |
+
- left_eef_rot_y
|
| 362 |
+
- left_eef_rot_z
|
| 363 |
+
- right_eef_pos_x
|
| 364 |
+
- right_eef_pos_y
|
| 365 |
+
- right_eef_pos_z
|
| 366 |
+
- right_eef_rot_x
|
| 367 |
+
- right_eef_rot_y
|
| 368 |
+
- right_eef_rot_z
|
| 369 |
+
dtype: float32
|
| 370 |
+
shape:
|
| 371 |
+
- 12
|
| 372 |
+
eef_sim_pose_action:
|
| 373 |
+
names:
|
| 374 |
+
- left_eef_pos_x
|
| 375 |
+
- left_eef_pos_y
|
| 376 |
+
- left_eef_pos_z
|
| 377 |
+
- left_eef_rot_x
|
| 378 |
+
- left_eef_rot_y
|
| 379 |
+
- left_eef_rot_z
|
| 380 |
+
- right_eef_pos_x
|
| 381 |
+
- right_eef_pos_y
|
| 382 |
+
- right_eef_pos_z
|
| 383 |
+
- right_eef_rot_x
|
| 384 |
+
- right_eef_rot_y
|
| 385 |
+
- right_eef_rot_z
|
| 386 |
+
dtype: float32
|
| 387 |
+
shape:
|
| 388 |
+
- 12
|
| 389 |
+
eef_direction_state:
|
| 390 |
+
names:
|
| 391 |
+
- left_eef_direction
|
| 392 |
+
- right_eef_direction
|
| 393 |
+
dtype: int32
|
| 394 |
+
shape:
|
| 395 |
+
- 2
|
| 396 |
+
eef_direction_action:
|
| 397 |
+
names:
|
| 398 |
+
- left_eef_direction
|
| 399 |
+
- right_eef_direction
|
| 400 |
+
dtype: int32
|
| 401 |
+
shape:
|
| 402 |
+
- 2
|
| 403 |
+
eef_velocity_state:
|
| 404 |
+
names:
|
| 405 |
+
- left_eef_velocity
|
| 406 |
+
- right_eef_velocity
|
| 407 |
+
dtype: int32
|
| 408 |
+
shape:
|
| 409 |
+
- 2
|
| 410 |
+
eef_velocity_action:
|
| 411 |
+
names:
|
| 412 |
+
- left_eef_velocity
|
| 413 |
+
- right_eef_velocity
|
| 414 |
+
dtype: int32
|
| 415 |
+
shape:
|
| 416 |
+
- 2
|
| 417 |
+
eef_acc_mag_state:
|
| 418 |
+
names:
|
| 419 |
+
- left_eef_acc_mag
|
| 420 |
+
- right_eef_acc_mag
|
| 421 |
+
dtype: int32
|
| 422 |
+
shape:
|
| 423 |
+
- 2
|
| 424 |
+
eef_acc_mag_action:
|
| 425 |
+
names:
|
| 426 |
+
- left_eef_acc_mag
|
| 427 |
+
- right_eef_acc_mag
|
| 428 |
+
dtype: int32
|
| 429 |
+
shape:
|
| 430 |
+
- 2
|
| 431 |
+
gripper_mode_state:
|
| 432 |
+
names:
|
| 433 |
+
- left_gripper_mode
|
| 434 |
+
- right_gripper_mode
|
| 435 |
+
dtype: int32
|
| 436 |
+
shape:
|
| 437 |
+
- 2
|
| 438 |
+
gripper_mode_action:
|
| 439 |
+
names:
|
| 440 |
+
- left_gripper_mode
|
| 441 |
+
- right_gripper_mode
|
| 442 |
+
dtype: int32
|
| 443 |
+
shape:
|
| 444 |
+
- 2
|
| 445 |
+
gripper_activity_state:
|
| 446 |
+
names:
|
| 447 |
+
- left_gripper_activity
|
| 448 |
+
- right_gripper_activity
|
| 449 |
+
dtype: int32
|
| 450 |
+
shape:
|
| 451 |
+
- 2
|
| 452 |
+
gripper_activity_action:
|
| 453 |
+
names:
|
| 454 |
+
- left_gripper_activity
|
| 455 |
+
- right_gripper_activity
|
| 456 |
+
dtype: int32
|
| 457 |
+
shape:
|
| 458 |
+
- 2
|
| 459 |
+
authors:
|
| 460 |
+
contributed_by:
|
| 461 |
+
- name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
|
| 462 |
+
dataset_description: This dataset uses an extended format based on LeRobot and is
|
| 463 |
+
fully compatible with LeRobot.
|
| 464 |
+
homepage: https://flagopen.github.io/RoboCOIN/
|
| 465 |
+
paper: https://arxiv.org/abs/2511.17441
|
| 466 |
+
repository: https://github.com/FlagOpen/RoboCOIN
|
| 467 |
+
contact_info: For questions, issues, or feedback regarding this dataset, please contact
|
| 468 |
+
us.
|
| 469 |
+
support_info: For technical support, please open an issue on our GitHub repository.
|
| 470 |
+
license_details: apache-2.0
|
| 471 |
+
citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\
|
| 472 |
+
\ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\
|
| 473 |
+
\ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
|
| 474 |
+
\ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
|
| 475 |
+
\ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
|
| 476 |
+
\ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
|
| 477 |
+
\ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
|
| 478 |
+
\ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
|
| 479 |
+
\ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
|
| 480 |
+
\ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
|
| 481 |
+
\ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
|
| 482 |
+
\ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
|
| 483 |
+
\ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
|
| 484 |
+
\ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
|
| 485 |
+
\ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\
|
| 486 |
+
\ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n"
|
| 487 |
+
additional_citations: 'If you use this dataset, please also consider citing:
|
| 488 |
+
|
| 489 |
+
LeRobot Framework: https://github.com/huggingface/lerobot
|
| 490 |
+
|
| 491 |
+
'
|
| 492 |
+
version_info: Initial Release
|
| 493 |
+
data_path: data/chunk-{id}/episode_{id}.parquet
|
| 494 |
+
video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
|
| 495 |
+
video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4
|
dataset_info/Galbot_G1_store_takeout_box.yaml
ADDED
|
@@ -0,0 +1,515 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
| 1 |
+
task_categories:
|
| 2 |
+
- robotics
|
| 3 |
+
language:
|
| 4 |
+
- en
|
| 5 |
+
tags:
|
| 6 |
+
- RoboCOIN
|
| 7 |
+
- LeRobot
|
| 8 |
+
license: apache-2.0
|
| 9 |
+
configs:
|
| 10 |
+
- config_name: default
|
| 11 |
+
data_files: data/chunk-{id}/episode_{id}.parquet
|
| 12 |
+
extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
|
| 13 |
+
in your research/publications—see the "Citation" section for details. You agree
|
| 14 |
+
to not use the dataset to conduct experiments that cause harm to human subjects.
|
| 15 |
+
extra_gated_fields:
|
| 16 |
+
Company/Organization:
|
| 17 |
+
type: text
|
| 18 |
+
description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
|
| 19 |
+
Country:
|
| 20 |
+
type: country
|
| 21 |
+
description: e.g., "Germany", "China", "United States"
|
| 22 |
+
codebase_version: v2.1
|
| 23 |
+
dataset_name: Galbot_G1_store_takeout_box
|
| 24 |
+
dataset_uuid: 5bb683d8-05d4-41e6-a940-ae4b0e94711e
|
| 25 |
+
scene_type:
|
| 26 |
+
level1: Household
|
| 27 |
+
level2: Kitchen
|
| 28 |
+
level3: null
|
| 29 |
+
level4: null
|
| 30 |
+
level5: null
|
| 31 |
+
env_type: real_world
|
| 32 |
+
objects:
|
| 33 |
+
- id: takeout_bag
|
| 34 |
+
name: takeout bag
|
| 35 |
+
color: none
|
| 36 |
+
anchor_policy: static
|
| 37 |
+
- id: disposable_takeout_box
|
| 38 |
+
name: disposable takeout box
|
| 39 |
+
color: transparent
|
| 40 |
+
anchor_policy: static
|
| 41 |
+
- id: table
|
| 42 |
+
name: table
|
| 43 |
+
color: brown
|
| 44 |
+
anchor_policy: static
|
| 45 |
+
- id: '1'
|
| 46 |
+
name: disposable takeout box
|
| 47 |
+
color: white
|
| 48 |
+
anchor_policy: static
|
| 49 |
+
task_operation_type: fixed_dual_arm
|
| 50 |
+
task_instruction: Close the disposable takeout box, then place it into the delivery
|
| 51 |
+
bag.
|
| 52 |
+
sub_tasks:
|
| 53 |
+
- Close the disposable takeout box, then place it into the delivery bag.
|
| 54 |
+
atomic_actions:
|
| 55 |
+
- grasp
|
| 56 |
+
- place
|
| 57 |
+
- close
|
| 58 |
+
robot_name: Galbot_G1
|
| 59 |
+
end_effector_type: two_finger_end_effector
|
| 60 |
+
tele_type: master_arm
|
| 61 |
+
sensor_list:
|
| 62 |
+
- cam_right_head_rgb
|
| 63 |
+
- cam_left_head_rgb
|
| 64 |
+
- cam_right_wrist_rgb
|
| 65 |
+
- cam_left_wrist_rgb
|
| 66 |
+
came_info:
|
| 67 |
+
cam_right_head_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264,
|
| 68 |
+
pix_fmt=yuv420p
|
| 69 |
+
cam_left_head_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264,
|
| 70 |
+
pix_fmt=yuv420p
|
| 71 |
+
cam_right_wrist_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264,
|
| 72 |
+
pix_fmt=yuv420p
|
| 73 |
+
cam_left_wrist_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264,
|
| 74 |
+
pix_fmt=yuv420p
|
| 75 |
+
depth_enabled: false
|
| 76 |
+
coordinate_definition: right-hand-frame
|
| 77 |
+
joint_rotation_dim: radian
|
| 78 |
+
end_rotation_dim: radian
|
| 79 |
+
end_translation_dim: meter
|
| 80 |
+
base_translation_dim: meter
|
| 81 |
+
annotations:
|
| 82 |
+
- eef_acc_mag_annotation.jsonl
|
| 83 |
+
- eef_direction_annotation.jsonl
|
| 84 |
+
- eef_velocity_annotation.jsonl
|
| 85 |
+
- gripper_activity_annotation.jsonl
|
| 86 |
+
- gripper_mode_annotation.jsonl
|
| 87 |
+
statistics:
|
| 88 |
+
total_episodes: 285
|
| 89 |
+
total_frames: 395175
|
| 90 |
+
fps: 30
|
| 91 |
+
total_tasks: 1
|
| 92 |
+
total_videos: 1140
|
| 93 |
+
total_chunks: 1
|
| 94 |
+
chunks_size: 10000
|
| 95 |
+
state_dim: 38
|
| 96 |
+
action_dim: 38
|
| 97 |
+
camera_views: 4
|
| 98 |
+
dataset_size: 32.83 GB
|
| 99 |
+
frame_num: 395175
|
| 100 |
+
frame_range: 1M
|
| 101 |
+
dataset_size: 32.83 GB
|
| 102 |
+
data_structure: 'Galbot_G1_store_takeout_box_0_qced_hardlink/
|
| 103 |
+
|
| 104 |
+
|-- annotations
|
| 105 |
+
|
| 106 |
+
| |-- eef_acc_mag_annotation.jsonl
|
| 107 |
+
|
| 108 |
+
| |-- eef_direction_annotation.jsonl
|
| 109 |
+
|
| 110 |
+
| |-- eef_velocity_annotation.jsonl
|
| 111 |
+
|
| 112 |
+
| |-- gripper_activity_annotation.jsonl
|
| 113 |
+
|
| 114 |
+
| `-- gripper_mode_annotation.jsonl
|
| 115 |
+
|
| 116 |
+
|-- data
|
| 117 |
+
|
| 118 |
+
| `-- chunk-000
|
| 119 |
+
|
| 120 |
+
| |-- episode_000000.parquet
|
| 121 |
+
|
| 122 |
+
| |-- episode_000001.parquet
|
| 123 |
+
|
| 124 |
+
| |-- episode_000002.parquet
|
| 125 |
+
|
| 126 |
+
| |-- episode_000003.parquet
|
| 127 |
+
|
| 128 |
+
| |-- episode_000004.parquet
|
| 129 |
+
|
| 130 |
+
| |-- episode_000005.parquet
|
| 131 |
+
|
| 132 |
+
| |-- episode_000006.parquet
|
| 133 |
+
|
| 134 |
+
| |-- episode_000007.parquet
|
| 135 |
+
|
| 136 |
+
| |-- episode_000008.parquet
|
| 137 |
+
|
| 138 |
+
| |-- episode_000009.parquet
|
| 139 |
+
|
| 140 |
+
| |-- episode_000010.parquet
|
| 141 |
+
|
| 142 |
+
| `-- episode_000011.parquet
|
| 143 |
+
|
| 144 |
+
| `-- ... (273 more entries)
|
| 145 |
+
|
| 146 |
+
|-- meta
|
| 147 |
+
|
| 148 |
+
| |-- episodes.jsonl
|
| 149 |
+
|
| 150 |
+
| |-- episodes_stats.jsonl
|
| 151 |
+
|
| 152 |
+
| |-- info.json
|
| 153 |
+
|
| 154 |
+
| `-- tasks.jsonl
|
| 155 |
+
|
| 156 |
+
|-- videos
|
| 157 |
+
|
| 158 |
+
| `-- chunk-000
|
| 159 |
+
|
| 160 |
+
| |-- observation.images.cam_left_head_rgb
|
| 161 |
+
|
| 162 |
+
| |-- observation.images.cam_left_wrist_rgb
|
| 163 |
+
|
| 164 |
+
| |-- observation.images.cam_right_head_rgb
|
| 165 |
+
|
| 166 |
+
| `-- observation.images.cam_right_wrist_rgb
|
| 167 |
+
|
| 168 |
+
|-- info.yaml
|
| 169 |
+
|
| 170 |
+
`-- README.md'
|
| 171 |
+
splits:
|
| 172 |
+
train: 0:284
|
| 173 |
+
features:
|
| 174 |
+
action:
|
| 175 |
+
dtype: float32
|
| 176 |
+
names:
|
| 177 |
+
- right_arm_joint_1_rad
|
| 178 |
+
- right_arm_joint_2_rad
|
| 179 |
+
- right_arm_joint_3_rad
|
| 180 |
+
- right_arm_joint_4_rad
|
| 181 |
+
- right_arm_joint_5_rad
|
| 182 |
+
- right_arm_joint_6_rad
|
| 183 |
+
- right_arm_joint_7_rad
|
| 184 |
+
- right_gripper_open
|
| 185 |
+
- left_arm_joint_1_rad
|
| 186 |
+
- left_arm_joint_2_rad
|
| 187 |
+
- left_arm_joint_3_rad
|
| 188 |
+
- left_arm_joint_4_rad
|
| 189 |
+
- left_arm_joint_5_rad
|
| 190 |
+
- left_arm_joint_6_rad
|
| 191 |
+
- left_arm_joint_7_rad
|
| 192 |
+
- left_gripper_open
|
| 193 |
+
- torso_joint_1_rad
|
| 194 |
+
- torso_joint_2_rad
|
| 195 |
+
- torso_joint_3_rad
|
| 196 |
+
- torso_joint_4_rad
|
| 197 |
+
- torso_joint_5_rad
|
| 198 |
+
- head_joint_1_rad
|
| 199 |
+
- head_joint_2_rad
|
| 200 |
+
- chassis_pos_1
|
| 201 |
+
- chassis_pos_2
|
| 202 |
+
- chassis_pos_3
|
| 203 |
+
- chassis_pos_4
|
| 204 |
+
- chassis_vel_1
|
| 205 |
+
- chassis_vel_2
|
| 206 |
+
- chassis_vel_3
|
| 207 |
+
- chassis_vel_4
|
| 208 |
+
- base_pos_x_m
|
| 209 |
+
- base_pos_y_m
|
| 210 |
+
- base_orient_quat_z
|
| 211 |
+
- base_orient_quat_w
|
| 212 |
+
- base_vel_x_m_s
|
| 213 |
+
- base_vel_y_m_s
|
| 214 |
+
- base_vel_angular_z_rad_s
|
| 215 |
+
shape:
|
| 216 |
+
- 38
|
| 217 |
+
observation.state:
|
| 218 |
+
dtype: float32
|
| 219 |
+
names:
|
| 220 |
+
- right_arm_joint_1_rad
|
| 221 |
+
- right_arm_joint_2_rad
|
| 222 |
+
- right_arm_joint_3_rad
|
| 223 |
+
- right_arm_joint_4_rad
|
| 224 |
+
- right_arm_joint_5_rad
|
| 225 |
+
- right_arm_joint_6_rad
|
| 226 |
+
- right_arm_joint_7_rad
|
| 227 |
+
- right_gripper_open
|
| 228 |
+
- left_arm_joint_1_rad
|
| 229 |
+
- left_arm_joint_2_rad
|
| 230 |
+
- left_arm_joint_3_rad
|
| 231 |
+
- left_arm_joint_4_rad
|
| 232 |
+
- left_arm_joint_5_rad
|
| 233 |
+
- left_arm_joint_6_rad
|
| 234 |
+
- left_arm_joint_7_rad
|
| 235 |
+
- left_gripper_open
|
| 236 |
+
- torso_joint_1_rad
|
| 237 |
+
- torso_joint_2_rad
|
| 238 |
+
- torso_joint_3_rad
|
| 239 |
+
- torso_joint_4_rad
|
| 240 |
+
- torso_joint_5_rad
|
| 241 |
+
- head_joint_1_rad
|
| 242 |
+
- head_joint_2_rad
|
| 243 |
+
- chassis_pos_1
|
| 244 |
+
- chassis_pos_2
|
| 245 |
+
- chassis_pos_3
|
| 246 |
+
- chassis_pos_4
|
| 247 |
+
- chassis_vel_1
|
| 248 |
+
- chassis_vel_2
|
| 249 |
+
- chassis_vel_3
|
| 250 |
+
- chassis_vel_4
|
| 251 |
+
- base_pos_x_m
|
| 252 |
+
- base_pos_y_m
|
| 253 |
+
- base_orient_quat_z
|
| 254 |
+
- base_orient_quat_w
|
| 255 |
+
- base_vel_x_m_s
|
| 256 |
+
- base_vel_y_m_s
|
| 257 |
+
- base_vel_angular_z_rad_s
|
| 258 |
+
shape:
|
| 259 |
+
- 38
|
| 260 |
+
observation.images.cam_right_head_rgb:
|
| 261 |
+
dtype: video
|
| 262 |
+
shape:
|
| 263 |
+
- 720
|
| 264 |
+
- 960
|
| 265 |
+
- 3
|
| 266 |
+
names:
|
| 267 |
+
- height
|
| 268 |
+
- width
|
| 269 |
+
- channels
|
| 270 |
+
info:
|
| 271 |
+
video.fps: 30
|
| 272 |
+
video.height: 720
|
| 273 |
+
video.width: 960
|
| 274 |
+
video.channels: 3
|
| 275 |
+
video.codec: libx264
|
| 276 |
+
video.pix_fmt: yuv420p
|
| 277 |
+
video.is_depth_map: false
|
| 278 |
+
has_audio: false
|
| 279 |
+
observation.images.cam_left_head_rgb:
|
| 280 |
+
dtype: video
|
| 281 |
+
shape:
|
| 282 |
+
- 720
|
| 283 |
+
- 960
|
| 284 |
+
- 3
|
| 285 |
+
names:
|
| 286 |
+
- height
|
| 287 |
+
- width
|
| 288 |
+
- channels
|
| 289 |
+
info:
|
| 290 |
+
video.fps: 30
|
| 291 |
+
video.height: 720
|
| 292 |
+
video.width: 960
|
| 293 |
+
video.channels: 3
|
| 294 |
+
video.codec: libx264
|
| 295 |
+
video.pix_fmt: yuv420p
|
| 296 |
+
video.is_depth_map: false
|
| 297 |
+
has_audio: false
|
| 298 |
+
observation.images.cam_right_wrist_rgb:
|
| 299 |
+
dtype: video
|
| 300 |
+
shape:
|
| 301 |
+
- 720
|
| 302 |
+
- 960
|
| 303 |
+
- 3
|
| 304 |
+
names:
|
| 305 |
+
- height
|
| 306 |
+
- width
|
| 307 |
+
- channels
|
| 308 |
+
info:
|
| 309 |
+
video.fps: 30
|
| 310 |
+
video.height: 720
|
| 311 |
+
video.width: 960
|
| 312 |
+
video.channels: 3
|
| 313 |
+
video.codec: libx264
|
| 314 |
+
video.pix_fmt: yuv420p
|
| 315 |
+
video.is_depth_map: false
|
| 316 |
+
has_audio: false
|
| 317 |
+
observation.images.cam_left_wrist_rgb:
|
| 318 |
+
dtype: video
|
| 319 |
+
shape:
|
| 320 |
+
- 720
|
| 321 |
+
- 960
|
| 322 |
+
- 3
|
| 323 |
+
names:
|
| 324 |
+
- height
|
| 325 |
+
- width
|
| 326 |
+
- channels
|
| 327 |
+
info:
|
| 328 |
+
video.fps: 30
|
| 329 |
+
video.height: 720
|
| 330 |
+
video.width: 960
|
| 331 |
+
video.channels: 3
|
| 332 |
+
video.codec: libx264
|
| 333 |
+
video.pix_fmt: yuv420p
|
| 334 |
+
video.is_depth_map: false
|
| 335 |
+
has_audio: false
|
| 336 |
+
timestamp:
|
| 337 |
+
dtype: float32
|
| 338 |
+
shape:
|
| 339 |
+
- 1
|
| 340 |
+
names: null
|
| 341 |
+
frame_index:
|
| 342 |
+
dtype: int64
|
| 343 |
+
shape:
|
| 344 |
+
- 1
|
| 345 |
+
names: null
|
| 346 |
+
episode_index:
|
| 347 |
+
dtype: int64
|
| 348 |
+
shape:
|
| 349 |
+
- 1
|
| 350 |
+
names: null
|
| 351 |
+
index:
|
| 352 |
+
dtype: int64
|
| 353 |
+
shape:
|
| 354 |
+
- 1
|
| 355 |
+
names: null
|
| 356 |
+
task_index:
|
| 357 |
+
dtype: int64
|
| 358 |
+
shape:
|
| 359 |
+
- 1
|
| 360 |
+
names: null
|
| 361 |
+
gripper_open_scale_state:
|
| 362 |
+
names:
|
| 363 |
+
- left_gripper_open_scale
|
| 364 |
+
- right_gripper_open_scale
|
| 365 |
+
dtype: float64
|
| 366 |
+
shape:
|
| 367 |
+
- 2
|
| 368 |
+
gripper_open_scale_action:
|
| 369 |
+
names:
|
| 370 |
+
- left_gripper_open_scale
|
| 371 |
+
- right_gripper_open_scale
|
| 372 |
+
dtype: float64
|
| 373 |
+
shape:
|
| 374 |
+
- 2
|
| 375 |
+
eef_sim_pose_state:
|
| 376 |
+
names:
|
| 377 |
+
- left_eef_pos_x
|
| 378 |
+
- left_eef_pos_y
|
| 379 |
+
- left_eef_pos_z
|
| 380 |
+
- left_eef_rot_x
|
| 381 |
+
- left_eef_rot_y
|
| 382 |
+
- left_eef_rot_z
|
| 383 |
+
- right_eef_pos_x
|
| 384 |
+
- right_eef_pos_y
|
| 385 |
+
- right_eef_pos_z
|
| 386 |
+
- right_eef_rot_x
|
| 387 |
+
- right_eef_rot_y
|
| 388 |
+
- right_eef_rot_z
|
| 389 |
+
dtype: float32
|
| 390 |
+
shape:
|
| 391 |
+
- 12
|
| 392 |
+
eef_sim_pose_action:
|
| 393 |
+
names:
|
| 394 |
+
- left_eef_pos_x
|
| 395 |
+
- left_eef_pos_y
|
| 396 |
+
- left_eef_pos_z
|
| 397 |
+
- left_eef_rot_x
|
| 398 |
+
- left_eef_rot_y
|
| 399 |
+
- left_eef_rot_z
|
| 400 |
+
- right_eef_pos_x
|
| 401 |
+
- right_eef_pos_y
|
| 402 |
+
- right_eef_pos_z
|
| 403 |
+
- right_eef_rot_x
|
| 404 |
+
- right_eef_rot_y
|
| 405 |
+
- right_eef_rot_z
|
| 406 |
+
dtype: float32
|
| 407 |
+
shape:
|
| 408 |
+
- 12
|
| 409 |
+
eef_direction_state:
|
| 410 |
+
names:
|
| 411 |
+
- left_eef_direction
|
| 412 |
+
- right_eef_direction
|
| 413 |
+
dtype: int32
|
| 414 |
+
shape:
|
| 415 |
+
- 2
|
| 416 |
+
eef_direction_action:
|
| 417 |
+
names:
|
| 418 |
+
- left_eef_direction
|
| 419 |
+
- right_eef_direction
|
| 420 |
+
dtype: int32
|
| 421 |
+
shape:
|
| 422 |
+
- 2
|
| 423 |
+
eef_velocity_state:
|
| 424 |
+
names:
|
| 425 |
+
- left_eef_velocity
|
| 426 |
+
- right_eef_velocity
|
| 427 |
+
dtype: int32
|
| 428 |
+
shape:
|
| 429 |
+
- 2
|
| 430 |
+
eef_velocity_action:
|
| 431 |
+
names:
|
| 432 |
+
- left_eef_velocity
|
| 433 |
+
- right_eef_velocity
|
| 434 |
+
dtype: int32
|
| 435 |
+
shape:
|
| 436 |
+
- 2
|
| 437 |
+
eef_acc_mag_state:
|
| 438 |
+
names:
|
| 439 |
+
- left_eef_acc_mag
|
| 440 |
+
- right_eef_acc_mag
|
| 441 |
+
dtype: int32
|
| 442 |
+
shape:
|
| 443 |
+
- 2
|
| 444 |
+
eef_acc_mag_action:
|
| 445 |
+
names:
|
| 446 |
+
- left_eef_acc_mag
|
| 447 |
+
- right_eef_acc_mag
|
| 448 |
+
dtype: int32
|
| 449 |
+
shape:
|
| 450 |
+
- 2
|
| 451 |
+
gripper_mode_state:
|
| 452 |
+
names:
|
| 453 |
+
- left_gripper_mode
|
| 454 |
+
- right_gripper_mode
|
| 455 |
+
dtype: int32
|
| 456 |
+
shape:
|
| 457 |
+
- 2
|
| 458 |
+
gripper_mode_action:
|
| 459 |
+
names:
|
| 460 |
+
- left_gripper_mode
|
| 461 |
+
- right_gripper_mode
|
| 462 |
+
dtype: int32
|
| 463 |
+
shape:
|
| 464 |
+
- 2
|
| 465 |
+
gripper_activity_state:
|
| 466 |
+
names:
|
| 467 |
+
- left_gripper_activity
|
| 468 |
+
- right_gripper_activity
|
| 469 |
+
dtype: int32
|
| 470 |
+
shape:
|
| 471 |
+
- 2
|
| 472 |
+
gripper_activity_action:
|
| 473 |
+
names:
|
| 474 |
+
- left_gripper_activity
|
| 475 |
+
- right_gripper_activity
|
| 476 |
+
dtype: int32
|
| 477 |
+
shape:
|
| 478 |
+
- 2
|
| 479 |
+
authors:
|
| 480 |
+
contributed_by:
|
| 481 |
+
- name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
|
| 482 |
+
dataset_description: This dataset uses an extended format based on LeRobot and is
|
| 483 |
+
fully compatible with LeRobot.
|
| 484 |
+
homepage: https://flagopen.github.io/RoboCOIN/
|
| 485 |
+
paper: https://arxiv.org/abs/2511.17441
|
| 486 |
+
repository: https://github.com/FlagOpen/RoboCOIN
|
| 487 |
+
contact_info: For questions, issues, or feedback regarding this dataset, please contact
|
| 488 |
+
us.
|
| 489 |
+
support_info: For technical support, please open an issue on our GitHub repository.
|
| 490 |
+
license_details: apache-2.0
|
| 491 |
+
citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\
|
| 492 |
+
\ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\
|
| 493 |
+
\ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
|
| 494 |
+
\ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
|
| 495 |
+
\ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
|
| 496 |
+
\ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
|
| 497 |
+
\ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
|
| 498 |
+
\ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
|
| 499 |
+
\ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
|
| 500 |
+
\ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
|
| 501 |
+
\ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
|
| 502 |
+
\ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
|
| 503 |
+
\ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
|
| 504 |
+
\ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
|
| 505 |
+
\ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\
|
| 506 |
+
\ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n"
|
| 507 |
+
additional_citations: 'If you use this dataset, please also consider citing:
|
| 508 |
+
|
| 509 |
+
LeRobot Framework: https://github.com/huggingface/lerobot
|
| 510 |
+
|
| 511 |
+
'
|
| 512 |
+
version_info: Initial Release
|
| 513 |
+
data_path: data/chunk-{id}/episode_{id}.parquet
|
| 514 |
+
video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
|
| 515 |
+
video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4
|
dataset_info/Galbot_G1_store_takeout_box_1.yaml
ADDED
|
@@ -0,0 +1,515 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
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|
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|
|
|
|
|
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|
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|
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|
|
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|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
|
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|
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|
|
| 1 |
+
task_categories:
|
| 2 |
+
- robotics
|
| 3 |
+
language:
|
| 4 |
+
- en
|
| 5 |
+
tags:
|
| 6 |
+
- RoboCOIN
|
| 7 |
+
- LeRobot
|
| 8 |
+
license: apache-2.0
|
| 9 |
+
configs:
|
| 10 |
+
- config_name: default
|
| 11 |
+
data_files: data/chunk-{id}/episode_{id}.parquet
|
| 12 |
+
extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
|
| 13 |
+
in your research/publications—see the "Citation" section for details. You agree
|
| 14 |
+
to not use the dataset to conduct experiments that cause harm to human subjects.
|
| 15 |
+
extra_gated_fields:
|
| 16 |
+
Company/Organization:
|
| 17 |
+
type: text
|
| 18 |
+
description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
|
| 19 |
+
Country:
|
| 20 |
+
type: country
|
| 21 |
+
description: e.g., "Germany", "China", "United States"
|
| 22 |
+
codebase_version: v2.1
|
| 23 |
+
dataset_name: Galbot_G1_store_takeout_box_1
|
| 24 |
+
dataset_uuid: 8e2074b4-12bd-41c8-a4f9-25c4dc99ff04
|
| 25 |
+
scene_type:
|
| 26 |
+
level1: Household
|
| 27 |
+
level2: Living Room
|
| 28 |
+
level3: null
|
| 29 |
+
level4: null
|
| 30 |
+
level5: null
|
| 31 |
+
env_type: real_world
|
| 32 |
+
objects:
|
| 33 |
+
- id: takeout_bag
|
| 34 |
+
name: takeout bag
|
| 35 |
+
color: none
|
| 36 |
+
anchor_policy: static
|
| 37 |
+
- id: disposable_takeout_box
|
| 38 |
+
name: disposable takeout box
|
| 39 |
+
color: transparent
|
| 40 |
+
anchor_policy: static
|
| 41 |
+
- id: table
|
| 42 |
+
name: table
|
| 43 |
+
color: brown
|
| 44 |
+
anchor_policy: static
|
| 45 |
+
- id: shrimp
|
| 46 |
+
name: shrimp
|
| 47 |
+
color: red
|
| 48 |
+
anchor_policy: static
|
| 49 |
+
task_operation_type: fixed_dual_arm
|
| 50 |
+
task_instruction: Close the takeout container lid, then place the container into the
|
| 51 |
+
takeout bag.
|
| 52 |
+
sub_tasks:
|
| 53 |
+
- Close the takeout container lid, then place the container into the takeout bag.
|
| 54 |
+
atomic_actions:
|
| 55 |
+
- grasp
|
| 56 |
+
- place
|
| 57 |
+
- close
|
| 58 |
+
robot_name: Galbot_G1
|
| 59 |
+
end_effector_type: two_finger_end_effector
|
| 60 |
+
tele_type: master_arm
|
| 61 |
+
sensor_list:
|
| 62 |
+
- cam_right_head_rgb
|
| 63 |
+
- cam_left_head_rgb
|
| 64 |
+
- cam_right_wrist_rgb
|
| 65 |
+
- cam_left_wrist_rgb
|
| 66 |
+
came_info:
|
| 67 |
+
cam_right_head_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264,
|
| 68 |
+
pix_fmt=yuv420p
|
| 69 |
+
cam_left_head_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264,
|
| 70 |
+
pix_fmt=yuv420p
|
| 71 |
+
cam_right_wrist_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264,
|
| 72 |
+
pix_fmt=yuv420p
|
| 73 |
+
cam_left_wrist_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264,
|
| 74 |
+
pix_fmt=yuv420p
|
| 75 |
+
depth_enabled: false
|
| 76 |
+
coordinate_definition: right-hand-frame
|
| 77 |
+
joint_rotation_dim: radian
|
| 78 |
+
end_rotation_dim: radian
|
| 79 |
+
end_translation_dim: meter
|
| 80 |
+
base_translation_dim: meter
|
| 81 |
+
annotations:
|
| 82 |
+
- eef_acc_mag_annotation.jsonl
|
| 83 |
+
- eef_direction_annotation.jsonl
|
| 84 |
+
- eef_velocity_annotation.jsonl
|
| 85 |
+
- gripper_activity_annotation.jsonl
|
| 86 |
+
- gripper_mode_annotation.jsonl
|
| 87 |
+
statistics:
|
| 88 |
+
total_episodes: 217
|
| 89 |
+
total_frames: 176487
|
| 90 |
+
fps: 30
|
| 91 |
+
total_tasks: 1
|
| 92 |
+
total_videos: 868
|
| 93 |
+
total_chunks: 1
|
| 94 |
+
chunks_size: 10000
|
| 95 |
+
state_dim: 38
|
| 96 |
+
action_dim: 38
|
| 97 |
+
camera_views: 4
|
| 98 |
+
dataset_size: 14.62 GB
|
| 99 |
+
frame_num: 176487
|
| 100 |
+
frame_range: 1M
|
| 101 |
+
dataset_size: 14.62 GB
|
| 102 |
+
data_structure: 'Galbot_G1_store_takeout_box_1_qced_hardlink/
|
| 103 |
+
|
| 104 |
+
|-- annotations
|
| 105 |
+
|
| 106 |
+
| |-- eef_acc_mag_annotation.jsonl
|
| 107 |
+
|
| 108 |
+
| |-- eef_direction_annotation.jsonl
|
| 109 |
+
|
| 110 |
+
| |-- eef_velocity_annotation.jsonl
|
| 111 |
+
|
| 112 |
+
| |-- gripper_activity_annotation.jsonl
|
| 113 |
+
|
| 114 |
+
| `-- gripper_mode_annotation.jsonl
|
| 115 |
+
|
| 116 |
+
|-- data
|
| 117 |
+
|
| 118 |
+
| `-- chunk-000
|
| 119 |
+
|
| 120 |
+
| |-- episode_000000.parquet
|
| 121 |
+
|
| 122 |
+
| |-- episode_000001.parquet
|
| 123 |
+
|
| 124 |
+
| |-- episode_000002.parquet
|
| 125 |
+
|
| 126 |
+
| |-- episode_000003.parquet
|
| 127 |
+
|
| 128 |
+
| |-- episode_000004.parquet
|
| 129 |
+
|
| 130 |
+
| |-- episode_000005.parquet
|
| 131 |
+
|
| 132 |
+
| |-- episode_000006.parquet
|
| 133 |
+
|
| 134 |
+
| |-- episode_000007.parquet
|
| 135 |
+
|
| 136 |
+
| |-- episode_000008.parquet
|
| 137 |
+
|
| 138 |
+
| |-- episode_000009.parquet
|
| 139 |
+
|
| 140 |
+
| |-- episode_000010.parquet
|
| 141 |
+
|
| 142 |
+
| `-- episode_000011.parquet
|
| 143 |
+
|
| 144 |
+
| `-- ... (205 more entries)
|
| 145 |
+
|
| 146 |
+
|-- meta
|
| 147 |
+
|
| 148 |
+
| |-- episodes.jsonl
|
| 149 |
+
|
| 150 |
+
| |-- episodes_stats.jsonl
|
| 151 |
+
|
| 152 |
+
| |-- info.json
|
| 153 |
+
|
| 154 |
+
| `-- tasks.jsonl
|
| 155 |
+
|
| 156 |
+
|-- videos
|
| 157 |
+
|
| 158 |
+
| `-- chunk-000
|
| 159 |
+
|
| 160 |
+
| |-- observation.images.cam_left_head_rgb
|
| 161 |
+
|
| 162 |
+
| |-- observation.images.cam_left_wrist_rgb
|
| 163 |
+
|
| 164 |
+
| |-- observation.images.cam_right_head_rgb
|
| 165 |
+
|
| 166 |
+
| `-- observation.images.cam_right_wrist_rgb
|
| 167 |
+
|
| 168 |
+
|-- info.yaml
|
| 169 |
+
|
| 170 |
+
`-- README.md'
|
| 171 |
+
splits:
|
| 172 |
+
train: 0:216
|
| 173 |
+
features:
|
| 174 |
+
action:
|
| 175 |
+
dtype: float32
|
| 176 |
+
names:
|
| 177 |
+
- right_arm_joint_1_rad
|
| 178 |
+
- right_arm_joint_2_rad
|
| 179 |
+
- right_arm_joint_3_rad
|
| 180 |
+
- right_arm_joint_4_rad
|
| 181 |
+
- right_arm_joint_5_rad
|
| 182 |
+
- right_arm_joint_6_rad
|
| 183 |
+
- right_arm_joint_7_rad
|
| 184 |
+
- right_gripper_open
|
| 185 |
+
- left_arm_joint_1_rad
|
| 186 |
+
- left_arm_joint_2_rad
|
| 187 |
+
- left_arm_joint_3_rad
|
| 188 |
+
- left_arm_joint_4_rad
|
| 189 |
+
- left_arm_joint_5_rad
|
| 190 |
+
- left_arm_joint_6_rad
|
| 191 |
+
- left_arm_joint_7_rad
|
| 192 |
+
- left_gripper_open
|
| 193 |
+
- torso_joint_1_rad
|
| 194 |
+
- torso_joint_2_rad
|
| 195 |
+
- torso_joint_3_rad
|
| 196 |
+
- torso_joint_4_rad
|
| 197 |
+
- torso_joint_5_rad
|
| 198 |
+
- head_joint_1_rad
|
| 199 |
+
- head_joint_2_rad
|
| 200 |
+
- chassis_pos_1
|
| 201 |
+
- chassis_pos_2
|
| 202 |
+
- chassis_pos_3
|
| 203 |
+
- chassis_pos_4
|
| 204 |
+
- chassis_vel_1
|
| 205 |
+
- chassis_vel_2
|
| 206 |
+
- chassis_vel_3
|
| 207 |
+
- chassis_vel_4
|
| 208 |
+
- base_pos_x_m
|
| 209 |
+
- base_pos_y_m
|
| 210 |
+
- base_orient_quat_z
|
| 211 |
+
- base_orient_quat_w
|
| 212 |
+
- base_vel_x_m_s
|
| 213 |
+
- base_vel_y_m_s
|
| 214 |
+
- base_vel_angular_z_rad_s
|
| 215 |
+
shape:
|
| 216 |
+
- 38
|
| 217 |
+
observation.state:
|
| 218 |
+
dtype: float32
|
| 219 |
+
names:
|
| 220 |
+
- right_arm_joint_1_rad
|
| 221 |
+
- right_arm_joint_2_rad
|
| 222 |
+
- right_arm_joint_3_rad
|
| 223 |
+
- right_arm_joint_4_rad
|
| 224 |
+
- right_arm_joint_5_rad
|
| 225 |
+
- right_arm_joint_6_rad
|
| 226 |
+
- right_arm_joint_7_rad
|
| 227 |
+
- right_gripper_open
|
| 228 |
+
- left_arm_joint_1_rad
|
| 229 |
+
- left_arm_joint_2_rad
|
| 230 |
+
- left_arm_joint_3_rad
|
| 231 |
+
- left_arm_joint_4_rad
|
| 232 |
+
- left_arm_joint_5_rad
|
| 233 |
+
- left_arm_joint_6_rad
|
| 234 |
+
- left_arm_joint_7_rad
|
| 235 |
+
- left_gripper_open
|
| 236 |
+
- torso_joint_1_rad
|
| 237 |
+
- torso_joint_2_rad
|
| 238 |
+
- torso_joint_3_rad
|
| 239 |
+
- torso_joint_4_rad
|
| 240 |
+
- torso_joint_5_rad
|
| 241 |
+
- head_joint_1_rad
|
| 242 |
+
- head_joint_2_rad
|
| 243 |
+
- chassis_pos_1
|
| 244 |
+
- chassis_pos_2
|
| 245 |
+
- chassis_pos_3
|
| 246 |
+
- chassis_pos_4
|
| 247 |
+
- chassis_vel_1
|
| 248 |
+
- chassis_vel_2
|
| 249 |
+
- chassis_vel_3
|
| 250 |
+
- chassis_vel_4
|
| 251 |
+
- base_pos_x_m
|
| 252 |
+
- base_pos_y_m
|
| 253 |
+
- base_orient_quat_z
|
| 254 |
+
- base_orient_quat_w
|
| 255 |
+
- base_vel_x_m_s
|
| 256 |
+
- base_vel_y_m_s
|
| 257 |
+
- base_vel_angular_z_rad_s
|
| 258 |
+
shape:
|
| 259 |
+
- 38
|
| 260 |
+
observation.images.cam_right_head_rgb:
|
| 261 |
+
dtype: video
|
| 262 |
+
shape:
|
| 263 |
+
- 720
|
| 264 |
+
- 960
|
| 265 |
+
- 3
|
| 266 |
+
names:
|
| 267 |
+
- height
|
| 268 |
+
- width
|
| 269 |
+
- channels
|
| 270 |
+
info:
|
| 271 |
+
video.fps: 30
|
| 272 |
+
video.height: 720
|
| 273 |
+
video.width: 960
|
| 274 |
+
video.channels: 3
|
| 275 |
+
video.codec: libx264
|
| 276 |
+
video.pix_fmt: yuv420p
|
| 277 |
+
video.is_depth_map: false
|
| 278 |
+
has_audio: false
|
| 279 |
+
observation.images.cam_left_head_rgb:
|
| 280 |
+
dtype: video
|
| 281 |
+
shape:
|
| 282 |
+
- 720
|
| 283 |
+
- 960
|
| 284 |
+
- 3
|
| 285 |
+
names:
|
| 286 |
+
- height
|
| 287 |
+
- width
|
| 288 |
+
- channels
|
| 289 |
+
info:
|
| 290 |
+
video.fps: 30
|
| 291 |
+
video.height: 720
|
| 292 |
+
video.width: 960
|
| 293 |
+
video.channels: 3
|
| 294 |
+
video.codec: libx264
|
| 295 |
+
video.pix_fmt: yuv420p
|
| 296 |
+
video.is_depth_map: false
|
| 297 |
+
has_audio: false
|
| 298 |
+
observation.images.cam_right_wrist_rgb:
|
| 299 |
+
dtype: video
|
| 300 |
+
shape:
|
| 301 |
+
- 720
|
| 302 |
+
- 960
|
| 303 |
+
- 3
|
| 304 |
+
names:
|
| 305 |
+
- height
|
| 306 |
+
- width
|
| 307 |
+
- channels
|
| 308 |
+
info:
|
| 309 |
+
video.fps: 30
|
| 310 |
+
video.height: 720
|
| 311 |
+
video.width: 960
|
| 312 |
+
video.channels: 3
|
| 313 |
+
video.codec: libx264
|
| 314 |
+
video.pix_fmt: yuv420p
|
| 315 |
+
video.is_depth_map: false
|
| 316 |
+
has_audio: false
|
| 317 |
+
observation.images.cam_left_wrist_rgb:
|
| 318 |
+
dtype: video
|
| 319 |
+
shape:
|
| 320 |
+
- 720
|
| 321 |
+
- 960
|
| 322 |
+
- 3
|
| 323 |
+
names:
|
| 324 |
+
- height
|
| 325 |
+
- width
|
| 326 |
+
- channels
|
| 327 |
+
info:
|
| 328 |
+
video.fps: 30
|
| 329 |
+
video.height: 720
|
| 330 |
+
video.width: 960
|
| 331 |
+
video.channels: 3
|
| 332 |
+
video.codec: libx264
|
| 333 |
+
video.pix_fmt: yuv420p
|
| 334 |
+
video.is_depth_map: false
|
| 335 |
+
has_audio: false
|
| 336 |
+
timestamp:
|
| 337 |
+
dtype: float32
|
| 338 |
+
shape:
|
| 339 |
+
- 1
|
| 340 |
+
names: null
|
| 341 |
+
frame_index:
|
| 342 |
+
dtype: int64
|
| 343 |
+
shape:
|
| 344 |
+
- 1
|
| 345 |
+
names: null
|
| 346 |
+
episode_index:
|
| 347 |
+
dtype: int64
|
| 348 |
+
shape:
|
| 349 |
+
- 1
|
| 350 |
+
names: null
|
| 351 |
+
index:
|
| 352 |
+
dtype: int64
|
| 353 |
+
shape:
|
| 354 |
+
- 1
|
| 355 |
+
names: null
|
| 356 |
+
task_index:
|
| 357 |
+
dtype: int64
|
| 358 |
+
shape:
|
| 359 |
+
- 1
|
| 360 |
+
names: null
|
| 361 |
+
gripper_open_scale_state:
|
| 362 |
+
names:
|
| 363 |
+
- left_gripper_open_scale
|
| 364 |
+
- right_gripper_open_scale
|
| 365 |
+
dtype: float64
|
| 366 |
+
shape:
|
| 367 |
+
- 2
|
| 368 |
+
gripper_open_scale_action:
|
| 369 |
+
names:
|
| 370 |
+
- left_gripper_open_scale
|
| 371 |
+
- right_gripper_open_scale
|
| 372 |
+
dtype: float64
|
| 373 |
+
shape:
|
| 374 |
+
- 2
|
| 375 |
+
eef_sim_pose_state:
|
| 376 |
+
names:
|
| 377 |
+
- left_eef_pos_x
|
| 378 |
+
- left_eef_pos_y
|
| 379 |
+
- left_eef_pos_z
|
| 380 |
+
- left_eef_rot_x
|
| 381 |
+
- left_eef_rot_y
|
| 382 |
+
- left_eef_rot_z
|
| 383 |
+
- right_eef_pos_x
|
| 384 |
+
- right_eef_pos_y
|
| 385 |
+
- right_eef_pos_z
|
| 386 |
+
- right_eef_rot_x
|
| 387 |
+
- right_eef_rot_y
|
| 388 |
+
- right_eef_rot_z
|
| 389 |
+
dtype: float32
|
| 390 |
+
shape:
|
| 391 |
+
- 12
|
| 392 |
+
eef_sim_pose_action:
|
| 393 |
+
names:
|
| 394 |
+
- left_eef_pos_x
|
| 395 |
+
- left_eef_pos_y
|
| 396 |
+
- left_eef_pos_z
|
| 397 |
+
- left_eef_rot_x
|
| 398 |
+
- left_eef_rot_y
|
| 399 |
+
- left_eef_rot_z
|
| 400 |
+
- right_eef_pos_x
|
| 401 |
+
- right_eef_pos_y
|
| 402 |
+
- right_eef_pos_z
|
| 403 |
+
- right_eef_rot_x
|
| 404 |
+
- right_eef_rot_y
|
| 405 |
+
- right_eef_rot_z
|
| 406 |
+
dtype: float32
|
| 407 |
+
shape:
|
| 408 |
+
- 12
|
| 409 |
+
eef_direction_state:
|
| 410 |
+
names:
|
| 411 |
+
- left_eef_direction
|
| 412 |
+
- right_eef_direction
|
| 413 |
+
dtype: int32
|
| 414 |
+
shape:
|
| 415 |
+
- 2
|
| 416 |
+
eef_direction_action:
|
| 417 |
+
names:
|
| 418 |
+
- left_eef_direction
|
| 419 |
+
- right_eef_direction
|
| 420 |
+
dtype: int32
|
| 421 |
+
shape:
|
| 422 |
+
- 2
|
| 423 |
+
eef_velocity_state:
|
| 424 |
+
names:
|
| 425 |
+
- left_eef_velocity
|
| 426 |
+
- right_eef_velocity
|
| 427 |
+
dtype: int32
|
| 428 |
+
shape:
|
| 429 |
+
- 2
|
| 430 |
+
eef_velocity_action:
|
| 431 |
+
names:
|
| 432 |
+
- left_eef_velocity
|
| 433 |
+
- right_eef_velocity
|
| 434 |
+
dtype: int32
|
| 435 |
+
shape:
|
| 436 |
+
- 2
|
| 437 |
+
eef_acc_mag_state:
|
| 438 |
+
names:
|
| 439 |
+
- left_eef_acc_mag
|
| 440 |
+
- right_eef_acc_mag
|
| 441 |
+
dtype: int32
|
| 442 |
+
shape:
|
| 443 |
+
- 2
|
| 444 |
+
eef_acc_mag_action:
|
| 445 |
+
names:
|
| 446 |
+
- left_eef_acc_mag
|
| 447 |
+
- right_eef_acc_mag
|
| 448 |
+
dtype: int32
|
| 449 |
+
shape:
|
| 450 |
+
- 2
|
| 451 |
+
gripper_mode_state:
|
| 452 |
+
names:
|
| 453 |
+
- left_gripper_mode
|
| 454 |
+
- right_gripper_mode
|
| 455 |
+
dtype: int32
|
| 456 |
+
shape:
|
| 457 |
+
- 2
|
| 458 |
+
gripper_mode_action:
|
| 459 |
+
names:
|
| 460 |
+
- left_gripper_mode
|
| 461 |
+
- right_gripper_mode
|
| 462 |
+
dtype: int32
|
| 463 |
+
shape:
|
| 464 |
+
- 2
|
| 465 |
+
gripper_activity_state:
|
| 466 |
+
names:
|
| 467 |
+
- left_gripper_activity
|
| 468 |
+
- right_gripper_activity
|
| 469 |
+
dtype: int32
|
| 470 |
+
shape:
|
| 471 |
+
- 2
|
| 472 |
+
gripper_activity_action:
|
| 473 |
+
names:
|
| 474 |
+
- left_gripper_activity
|
| 475 |
+
- right_gripper_activity
|
| 476 |
+
dtype: int32
|
| 477 |
+
shape:
|
| 478 |
+
- 2
|
| 479 |
+
authors:
|
| 480 |
+
contributed_by:
|
| 481 |
+
- name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
|
| 482 |
+
dataset_description: This dataset uses an extended format based on LeRobot and is
|
| 483 |
+
fully compatible with LeRobot.
|
| 484 |
+
homepage: https://flagopen.github.io/RoboCOIN/
|
| 485 |
+
paper: https://arxiv.org/abs/2511.17441
|
| 486 |
+
repository: https://github.com/FlagOpen/RoboCOIN
|
| 487 |
+
contact_info: For questions, issues, or feedback regarding this dataset, please contact
|
| 488 |
+
us.
|
| 489 |
+
support_info: For technical support, please open an issue on our GitHub repository.
|
| 490 |
+
license_details: apache-2.0
|
| 491 |
+
citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\
|
| 492 |
+
\ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\
|
| 493 |
+
\ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
|
| 494 |
+
\ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
|
| 495 |
+
\ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
|
| 496 |
+
\ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
|
| 497 |
+
\ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
|
| 498 |
+
\ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
|
| 499 |
+
\ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
|
| 500 |
+
\ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
|
| 501 |
+
\ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
|
| 502 |
+
\ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
|
| 503 |
+
\ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
|
| 504 |
+
\ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
|
| 505 |
+
\ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\
|
| 506 |
+
\ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n"
|
| 507 |
+
additional_citations: 'If you use this dataset, please also consider citing:
|
| 508 |
+
|
| 509 |
+
LeRobot Framework: https://github.com/huggingface/lerobot
|
| 510 |
+
|
| 511 |
+
'
|
| 512 |
+
version_info: Initial Release
|
| 513 |
+
data_path: data/chunk-{id}/episode_{id}.parquet
|
| 514 |
+
video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
|
| 515 |
+
video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4
|
dataset_info/Galbot_G1_wipe_mirror.yaml
ADDED
|
@@ -0,0 +1,495 @@
|
|
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|
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|
|
| 1 |
+
task_categories:
|
| 2 |
+
- robotics
|
| 3 |
+
language:
|
| 4 |
+
- en
|
| 5 |
+
tags:
|
| 6 |
+
- RoboCOIN
|
| 7 |
+
- LeRobot
|
| 8 |
+
license: apache-2.0
|
| 9 |
+
configs:
|
| 10 |
+
- config_name: default
|
| 11 |
+
data_files: data/chunk-{id}/episode_{id}.parquet
|
| 12 |
+
extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
|
| 13 |
+
in your research/publications—see the "Citation" section for details. You agree
|
| 14 |
+
to not use the dataset to conduct experiments that cause harm to human subjects.
|
| 15 |
+
extra_gated_fields:
|
| 16 |
+
Company/Organization:
|
| 17 |
+
type: text
|
| 18 |
+
description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
|
| 19 |
+
Country:
|
| 20 |
+
type: country
|
| 21 |
+
description: e.g., "Germany", "China", "United States"
|
| 22 |
+
codebase_version: v2.1
|
| 23 |
+
dataset_name: Galbot_G1_wipe_mirror
|
| 24 |
+
dataset_uuid: 6cedd02a-b3cf-4e0a-8364-bdba9577a263
|
| 25 |
+
scene_type:
|
| 26 |
+
level1: Household
|
| 27 |
+
level2: Bathroom
|
| 28 |
+
level3: null
|
| 29 |
+
level4: null
|
| 30 |
+
level5: null
|
| 31 |
+
env_type: real_world
|
| 32 |
+
objects:
|
| 33 |
+
- id: towel
|
| 34 |
+
name: towel
|
| 35 |
+
color: white
|
| 36 |
+
anchor_policy: static
|
| 37 |
+
- id: washbasin
|
| 38 |
+
name: washbasin
|
| 39 |
+
color: brown
|
| 40 |
+
anchor_policy: static
|
| 41 |
+
- id: mirror
|
| 42 |
+
name: mirror
|
| 43 |
+
color: none
|
| 44 |
+
anchor_policy: static
|
| 45 |
+
task_operation_type: mobile_single_arm
|
| 46 |
+
task_instruction: Pick up the towel from the sink counter and wipe the mirror surface.
|
| 47 |
+
sub_tasks:
|
| 48 |
+
- Pick up the towel from the sink counter and wipe the mirror surface.
|
| 49 |
+
atomic_actions:
|
| 50 |
+
- move
|
| 51 |
+
- grasp
|
| 52 |
+
- wipe
|
| 53 |
+
robot_name: Galbot_G1
|
| 54 |
+
end_effector_type: two_finger_end_effector
|
| 55 |
+
tele_type: master_arm
|
| 56 |
+
sensor_list:
|
| 57 |
+
- cam_right_head_rgb
|
| 58 |
+
- cam_left_head_rgb
|
| 59 |
+
- cam_right_wrist_rgb
|
| 60 |
+
- cam_left_wrist_rgb
|
| 61 |
+
came_info:
|
| 62 |
+
cam_right_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 63 |
+
pix_fmt=yuv420p
|
| 64 |
+
cam_left_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 65 |
+
pix_fmt=yuv420p
|
| 66 |
+
cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 67 |
+
pix_fmt=yuv420p
|
| 68 |
+
cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264,
|
| 69 |
+
pix_fmt=yuv420p
|
| 70 |
+
depth_enabled: false
|
| 71 |
+
coordinate_definition: right-hand-frame
|
| 72 |
+
joint_rotation_dim: radian
|
| 73 |
+
end_rotation_dim: radian
|
| 74 |
+
end_translation_dim: meter
|
| 75 |
+
annotations:
|
| 76 |
+
- eef_acc_mag_annotation.jsonl
|
| 77 |
+
- eef_direction_annotation.jsonl
|
| 78 |
+
- eef_velocity_annotation.jsonl
|
| 79 |
+
- gripper_activity_annotation.jsonl
|
| 80 |
+
- gripper_mode_annotation.jsonl
|
| 81 |
+
statistics:
|
| 82 |
+
total_episodes: 30
|
| 83 |
+
total_frames: 41399
|
| 84 |
+
fps: 30
|
| 85 |
+
total_tasks: 1
|
| 86 |
+
total_videos: 120
|
| 87 |
+
total_chunks: 1
|
| 88 |
+
chunks_size: 10000
|
| 89 |
+
state_dim: 31
|
| 90 |
+
action_dim: 31
|
| 91 |
+
camera_views: 4
|
| 92 |
+
dataset_size: 2.20 GB
|
| 93 |
+
frame_num: 41399
|
| 94 |
+
frame_range: 100K
|
| 95 |
+
dataset_size: 2.20 GB
|
| 96 |
+
data_structure: 'Galbot_G1_wipe_mirror_0_qced_hardlink/
|
| 97 |
+
|
| 98 |
+
|-- annotations
|
| 99 |
+
|
| 100 |
+
| |-- eef_acc_mag_annotation.jsonl
|
| 101 |
+
|
| 102 |
+
| |-- eef_direction_annotation.jsonl
|
| 103 |
+
|
| 104 |
+
| |-- eef_velocity_annotation.jsonl
|
| 105 |
+
|
| 106 |
+
| |-- gripper_activity_annotation.jsonl
|
| 107 |
+
|
| 108 |
+
| `-- gripper_mode_annotation.jsonl
|
| 109 |
+
|
| 110 |
+
|-- data
|
| 111 |
+
|
| 112 |
+
| `-- chunk-000
|
| 113 |
+
|
| 114 |
+
| |-- episode_000000.parquet
|
| 115 |
+
|
| 116 |
+
| |-- episode_000001.parquet
|
| 117 |
+
|
| 118 |
+
| |-- episode_000002.parquet
|
| 119 |
+
|
| 120 |
+
| |-- episode_000003.parquet
|
| 121 |
+
|
| 122 |
+
| |-- episode_000004.parquet
|
| 123 |
+
|
| 124 |
+
| |-- episode_000005.parquet
|
| 125 |
+
|
| 126 |
+
| |-- episode_000006.parquet
|
| 127 |
+
|
| 128 |
+
| |-- episode_000007.parquet
|
| 129 |
+
|
| 130 |
+
| |-- episode_000008.parquet
|
| 131 |
+
|
| 132 |
+
| |-- episode_000009.parquet
|
| 133 |
+
|
| 134 |
+
| |-- episode_000010.parquet
|
| 135 |
+
|
| 136 |
+
| `-- episode_000011.parquet
|
| 137 |
+
|
| 138 |
+
| `-- ... (18 more entries)
|
| 139 |
+
|
| 140 |
+
|-- meta
|
| 141 |
+
|
| 142 |
+
| |-- episodes.jsonl
|
| 143 |
+
|
| 144 |
+
| |-- episodes_stats.jsonl
|
| 145 |
+
|
| 146 |
+
| |-- info.json
|
| 147 |
+
|
| 148 |
+
| `-- tasks.jsonl
|
| 149 |
+
|
| 150 |
+
|-- videos
|
| 151 |
+
|
| 152 |
+
| `-- chunk-000
|
| 153 |
+
|
| 154 |
+
| |-- observation.images.cam_left_head_rgb
|
| 155 |
+
|
| 156 |
+
| |-- observation.images.cam_left_wrist_rgb
|
| 157 |
+
|
| 158 |
+
| |-- observation.images.cam_right_head_rgb
|
| 159 |
+
|
| 160 |
+
| `-- observation.images.cam_right_wrist_rgb
|
| 161 |
+
|
| 162 |
+
|-- info.yaml
|
| 163 |
+
|
| 164 |
+
`-- README.md'
|
| 165 |
+
splits:
|
| 166 |
+
train: 0:29
|
| 167 |
+
features:
|
| 168 |
+
action:
|
| 169 |
+
dtype: float32
|
| 170 |
+
names:
|
| 171 |
+
- right_arm_joint_1_rad
|
| 172 |
+
- right_arm_joint_2_rad
|
| 173 |
+
- right_arm_joint_3_rad
|
| 174 |
+
- right_arm_joint_4_rad
|
| 175 |
+
- right_arm_joint_5_rad
|
| 176 |
+
- right_arm_joint_6_rad
|
| 177 |
+
- right_arm_joint_7_rad
|
| 178 |
+
- right_gripper_open
|
| 179 |
+
- left_arm_joint_1_rad
|
| 180 |
+
- left_arm_joint_2_rad
|
| 181 |
+
- left_arm_joint_3_rad
|
| 182 |
+
- left_arm_joint_4_rad
|
| 183 |
+
- left_arm_joint_5_rad
|
| 184 |
+
- left_arm_joint_6_rad
|
| 185 |
+
- left_arm_joint_7_rad
|
| 186 |
+
- left_gripper_open
|
| 187 |
+
- torso_joint_1_rad
|
| 188 |
+
- torso_joint_2_rad
|
| 189 |
+
- torso_joint_3_rad
|
| 190 |
+
- torso_joint_4_rad
|
| 191 |
+
- torso_joint_5_rad
|
| 192 |
+
- head_joint_1_rad
|
| 193 |
+
- head_joint_2_rad
|
| 194 |
+
- chassis_pos_1
|
| 195 |
+
- chassis_pos_2
|
| 196 |
+
- chassis_pos_3
|
| 197 |
+
- chassis_pos_4
|
| 198 |
+
- chassis_vel_1
|
| 199 |
+
- chassis_vel_2
|
| 200 |
+
- chassis_vel_3
|
| 201 |
+
- chassis_vel_4
|
| 202 |
+
shape:
|
| 203 |
+
- 31
|
| 204 |
+
observation.state:
|
| 205 |
+
dtype: float32
|
| 206 |
+
names:
|
| 207 |
+
- right_arm_joint_1_rad
|
| 208 |
+
- right_arm_joint_2_rad
|
| 209 |
+
- right_arm_joint_3_rad
|
| 210 |
+
- right_arm_joint_4_rad
|
| 211 |
+
- right_arm_joint_5_rad
|
| 212 |
+
- right_arm_joint_6_rad
|
| 213 |
+
- right_arm_joint_7_rad
|
| 214 |
+
- right_gripper_open
|
| 215 |
+
- left_arm_joint_1_rad
|
| 216 |
+
- left_arm_joint_2_rad
|
| 217 |
+
- left_arm_joint_3_rad
|
| 218 |
+
- left_arm_joint_4_rad
|
| 219 |
+
- left_arm_joint_5_rad
|
| 220 |
+
- left_arm_joint_6_rad
|
| 221 |
+
- left_arm_joint_7_rad
|
| 222 |
+
- left_gripper_open
|
| 223 |
+
- torso_joint_1_rad
|
| 224 |
+
- torso_joint_2_rad
|
| 225 |
+
- torso_joint_3_rad
|
| 226 |
+
- torso_joint_4_rad
|
| 227 |
+
- torso_joint_5_rad
|
| 228 |
+
- head_joint_1_rad
|
| 229 |
+
- head_joint_2_rad
|
| 230 |
+
- chassis_pos_1
|
| 231 |
+
- chassis_pos_2
|
| 232 |
+
- chassis_pos_3
|
| 233 |
+
- chassis_pos_4
|
| 234 |
+
- chassis_vel_1
|
| 235 |
+
- chassis_vel_2
|
| 236 |
+
- chassis_vel_3
|
| 237 |
+
- chassis_vel_4
|
| 238 |
+
shape:
|
| 239 |
+
- 31
|
| 240 |
+
observation.images.cam_right_head_rgb:
|
| 241 |
+
dtype: video
|
| 242 |
+
shape:
|
| 243 |
+
- 480
|
| 244 |
+
- 640
|
| 245 |
+
- 3
|
| 246 |
+
names:
|
| 247 |
+
- height
|
| 248 |
+
- width
|
| 249 |
+
- channels
|
| 250 |
+
info:
|
| 251 |
+
video.fps: 30
|
| 252 |
+
video.height: 480
|
| 253 |
+
video.width: 640
|
| 254 |
+
video.channels: 3
|
| 255 |
+
video.codec: libx264
|
| 256 |
+
video.pix_fmt: yuv420p
|
| 257 |
+
video.is_depth_map: false
|
| 258 |
+
has_audio: false
|
| 259 |
+
observation.images.cam_left_head_rgb:
|
| 260 |
+
dtype: video
|
| 261 |
+
shape:
|
| 262 |
+
- 480
|
| 263 |
+
- 640
|
| 264 |
+
- 3
|
| 265 |
+
names:
|
| 266 |
+
- height
|
| 267 |
+
- width
|
| 268 |
+
- channels
|
| 269 |
+
info:
|
| 270 |
+
video.fps: 30
|
| 271 |
+
video.height: 480
|
| 272 |
+
video.width: 640
|
| 273 |
+
video.channels: 3
|
| 274 |
+
video.codec: libx264
|
| 275 |
+
video.pix_fmt: yuv420p
|
| 276 |
+
video.is_depth_map: false
|
| 277 |
+
has_audio: false
|
| 278 |
+
observation.images.cam_right_wrist_rgb:
|
| 279 |
+
dtype: video
|
| 280 |
+
shape:
|
| 281 |
+
- 480
|
| 282 |
+
- 640
|
| 283 |
+
- 3
|
| 284 |
+
names:
|
| 285 |
+
- height
|
| 286 |
+
- width
|
| 287 |
+
- channels
|
| 288 |
+
info:
|
| 289 |
+
video.fps: 30
|
| 290 |
+
video.height: 480
|
| 291 |
+
video.width: 640
|
| 292 |
+
video.channels: 3
|
| 293 |
+
video.codec: libx264
|
| 294 |
+
video.pix_fmt: yuv420p
|
| 295 |
+
video.is_depth_map: false
|
| 296 |
+
has_audio: false
|
| 297 |
+
observation.images.cam_left_wrist_rgb:
|
| 298 |
+
dtype: video
|
| 299 |
+
shape:
|
| 300 |
+
- 480
|
| 301 |
+
- 640
|
| 302 |
+
- 3
|
| 303 |
+
names:
|
| 304 |
+
- height
|
| 305 |
+
- width
|
| 306 |
+
- channels
|
| 307 |
+
info:
|
| 308 |
+
video.fps: 30
|
| 309 |
+
video.height: 480
|
| 310 |
+
video.width: 640
|
| 311 |
+
video.channels: 3
|
| 312 |
+
video.codec: libx264
|
| 313 |
+
video.pix_fmt: yuv420p
|
| 314 |
+
video.is_depth_map: false
|
| 315 |
+
has_audio: false
|
| 316 |
+
timestamp:
|
| 317 |
+
dtype: float32
|
| 318 |
+
shape:
|
| 319 |
+
- 1
|
| 320 |
+
names: null
|
| 321 |
+
frame_index:
|
| 322 |
+
dtype: int64
|
| 323 |
+
shape:
|
| 324 |
+
- 1
|
| 325 |
+
names: null
|
| 326 |
+
episode_index:
|
| 327 |
+
dtype: int64
|
| 328 |
+
shape:
|
| 329 |
+
- 1
|
| 330 |
+
names: null
|
| 331 |
+
index:
|
| 332 |
+
dtype: int64
|
| 333 |
+
shape:
|
| 334 |
+
- 1
|
| 335 |
+
names: null
|
| 336 |
+
task_index:
|
| 337 |
+
dtype: int64
|
| 338 |
+
shape:
|
| 339 |
+
- 1
|
| 340 |
+
names: null
|
| 341 |
+
gripper_open_scale_state:
|
| 342 |
+
names:
|
| 343 |
+
- left_gripper_open_scale
|
| 344 |
+
- right_gripper_open_scale
|
| 345 |
+
dtype: float64
|
| 346 |
+
shape:
|
| 347 |
+
- 2
|
| 348 |
+
gripper_open_scale_action:
|
| 349 |
+
names:
|
| 350 |
+
- left_gripper_open_scale
|
| 351 |
+
- right_gripper_open_scale
|
| 352 |
+
dtype: float64
|
| 353 |
+
shape:
|
| 354 |
+
- 2
|
| 355 |
+
eef_sim_pose_state:
|
| 356 |
+
names:
|
| 357 |
+
- left_eef_pos_x
|
| 358 |
+
- left_eef_pos_y
|
| 359 |
+
- left_eef_pos_z
|
| 360 |
+
- left_eef_rot_x
|
| 361 |
+
- left_eef_rot_y
|
| 362 |
+
- left_eef_rot_z
|
| 363 |
+
- right_eef_pos_x
|
| 364 |
+
- right_eef_pos_y
|
| 365 |
+
- right_eef_pos_z
|
| 366 |
+
- right_eef_rot_x
|
| 367 |
+
- right_eef_rot_y
|
| 368 |
+
- right_eef_rot_z
|
| 369 |
+
dtype: float32
|
| 370 |
+
shape:
|
| 371 |
+
- 12
|
| 372 |
+
eef_sim_pose_action:
|
| 373 |
+
names:
|
| 374 |
+
- left_eef_pos_x
|
| 375 |
+
- left_eef_pos_y
|
| 376 |
+
- left_eef_pos_z
|
| 377 |
+
- left_eef_rot_x
|
| 378 |
+
- left_eef_rot_y
|
| 379 |
+
- left_eef_rot_z
|
| 380 |
+
- right_eef_pos_x
|
| 381 |
+
- right_eef_pos_y
|
| 382 |
+
- right_eef_pos_z
|
| 383 |
+
- right_eef_rot_x
|
| 384 |
+
- right_eef_rot_y
|
| 385 |
+
- right_eef_rot_z
|
| 386 |
+
dtype: float32
|
| 387 |
+
shape:
|
| 388 |
+
- 12
|
| 389 |
+
eef_direction_state:
|
| 390 |
+
names:
|
| 391 |
+
- left_eef_direction
|
| 392 |
+
- right_eef_direction
|
| 393 |
+
dtype: int32
|
| 394 |
+
shape:
|
| 395 |
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- 2
|
| 396 |
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eef_direction_action:
|
| 397 |
+
names:
|
| 398 |
+
- left_eef_direction
|
| 399 |
+
- right_eef_direction
|
| 400 |
+
dtype: int32
|
| 401 |
+
shape:
|
| 402 |
+
- 2
|
| 403 |
+
eef_velocity_state:
|
| 404 |
+
names:
|
| 405 |
+
- left_eef_velocity
|
| 406 |
+
- right_eef_velocity
|
| 407 |
+
dtype: int32
|
| 408 |
+
shape:
|
| 409 |
+
- 2
|
| 410 |
+
eef_velocity_action:
|
| 411 |
+
names:
|
| 412 |
+
- left_eef_velocity
|
| 413 |
+
- right_eef_velocity
|
| 414 |
+
dtype: int32
|
| 415 |
+
shape:
|
| 416 |
+
- 2
|
| 417 |
+
eef_acc_mag_state:
|
| 418 |
+
names:
|
| 419 |
+
- left_eef_acc_mag
|
| 420 |
+
- right_eef_acc_mag
|
| 421 |
+
dtype: int32
|
| 422 |
+
shape:
|
| 423 |
+
- 2
|
| 424 |
+
eef_acc_mag_action:
|
| 425 |
+
names:
|
| 426 |
+
- left_eef_acc_mag
|
| 427 |
+
- right_eef_acc_mag
|
| 428 |
+
dtype: int32
|
| 429 |
+
shape:
|
| 430 |
+
- 2
|
| 431 |
+
gripper_mode_state:
|
| 432 |
+
names:
|
| 433 |
+
- left_gripper_mode
|
| 434 |
+
- right_gripper_mode
|
| 435 |
+
dtype: int32
|
| 436 |
+
shape:
|
| 437 |
+
- 2
|
| 438 |
+
gripper_mode_action:
|
| 439 |
+
names:
|
| 440 |
+
- left_gripper_mode
|
| 441 |
+
- right_gripper_mode
|
| 442 |
+
dtype: int32
|
| 443 |
+
shape:
|
| 444 |
+
- 2
|
| 445 |
+
gripper_activity_state:
|
| 446 |
+
names:
|
| 447 |
+
- left_gripper_activity
|
| 448 |
+
- right_gripper_activity
|
| 449 |
+
dtype: int32
|
| 450 |
+
shape:
|
| 451 |
+
- 2
|
| 452 |
+
gripper_activity_action:
|
| 453 |
+
names:
|
| 454 |
+
- left_gripper_activity
|
| 455 |
+
- right_gripper_activity
|
| 456 |
+
dtype: int32
|
| 457 |
+
shape:
|
| 458 |
+
- 2
|
| 459 |
+
authors:
|
| 460 |
+
contributed_by:
|
| 461 |
+
- name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
|
| 462 |
+
dataset_description: This dataset uses an extended format based on LeRobot and is
|
| 463 |
+
fully compatible with LeRobot.
|
| 464 |
+
homepage: https://flagopen.github.io/RoboCOIN/
|
| 465 |
+
paper: https://arxiv.org/abs/2511.17441
|
| 466 |
+
repository: https://github.com/FlagOpen/RoboCOIN
|
| 467 |
+
contact_info: For questions, issues, or feedback regarding this dataset, please contact
|
| 468 |
+
us.
|
| 469 |
+
support_info: For technical support, please open an issue on our GitHub repository.
|
| 470 |
+
license_details: apache-2.0
|
| 471 |
+
citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\
|
| 472 |
+
\ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\
|
| 473 |
+
\ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
|
| 474 |
+
\ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
|
| 475 |
+
\ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
|
| 476 |
+
\ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
|
| 477 |
+
\ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
|
| 478 |
+
\ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
|
| 479 |
+
\ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
|
| 480 |
+
\ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
|
| 481 |
+
\ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
|
| 482 |
+
\ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
|
| 483 |
+
\ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
|
| 484 |
+
\ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
|
| 485 |
+
\ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\
|
| 486 |
+
\ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n"
|
| 487 |
+
additional_citations: 'If you use this dataset, please also consider citing:
|
| 488 |
+
|
| 489 |
+
LeRobot Framework: https://github.com/huggingface/lerobot
|
| 490 |
+
|
| 491 |
+
'
|
| 492 |
+
version_info: Initial Release
|
| 493 |
+
data_path: data/chunk-{id}/episode_{id}.parquet
|
| 494 |
+
video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
|
| 495 |
+
video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4
|
info/consolidated_datasets.json
CHANGED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:
|
| 3 |
-
size
|
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|
|
| 1 |
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:4bbd55a514506663b2139f4a364ca8eae7eea202ca0b2de061ac862871b589b3
|
| 3 |
+
size 13354267
|
info/data_index.json
CHANGED
|
@@ -545,11 +545,44 @@
|
|
| 545 |
"Galaxea_R1_Lite_wash_the_tableware",
|
| 546 |
"Galaxea_R1_Lite_washing_board",
|
| 547 |
"Galaxea_R1_Lite_wipe_the_table",
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 548 |
"Galbot_G1_fold_clothe_b",
|
| 549 |
"Galbot_G1_fold_clothe_c",
|
| 550 |
"Galbot_G1_fold_clothe_e",
|
| 551 |
"Galbot_G1_fold_clothes",
|
| 552 |
"Galbot_G1_fold_clothes_1",
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 553 |
"Galbot_G1_steamer_storage_baozi",
|
| 554 |
"Galbot_G1_steamer_storage_baozi_a",
|
| 555 |
"Galbot_G1_steamer_storage_baozi_b",
|
|
@@ -561,8 +594,11 @@
|
|
| 561 |
"Galbot_G1_steamer_storage_baozi_h",
|
| 562 |
"Galbot_G1_steamer_storage_baozi_i",
|
| 563 |
"Galbot_G1_steamer_storage_baozi_j",
|
|
|
|
|
|
|
| 564 |
"Galbot_G1_use_dryer",
|
| 565 |
"Galbot_G1_use_dryer_1",
|
|
|
|
| 566 |
"Leju_Kuavo_4_box_storage_parcel",
|
| 567 |
"Leju_Kuavo_4_box_storage_parcel_1",
|
| 568 |
"Leju_Kuavo_4_box_storage_parcel_10",
|
|
@@ -770,5 +806,5 @@
|
|
| 770 |
"Unitree_G1edu-u3_stack_bowls",
|
| 771 |
"Unitree_G1edu-u3_tray_storage_lemon_a"
|
| 772 |
],
|
| 773 |
-
"count":
|
| 774 |
}
|
|
|
|
| 545 |
"Galaxea_R1_Lite_wash_the_tableware",
|
| 546 |
"Galaxea_R1_Lite_washing_board",
|
| 547 |
"Galaxea_R1_Lite_wipe_the_table",
|
| 548 |
+
"Galbot_G1_bag_table_trash_1",
|
| 549 |
+
"Galbot_G1_bag_table_trash_2",
|
| 550 |
+
"Galbot_G1_clear_sink_1",
|
| 551 |
+
"Galbot_G1_clear_sink_trash_1",
|
| 552 |
+
"Galbot_G1_clear_table_trash_1",
|
| 553 |
+
"Galbot_G1_clear_table_trash_2",
|
| 554 |
+
"Galbot_G1_clear_table_trash_3",
|
| 555 |
+
"Galbot_G1_discard_towel_1",
|
| 556 |
"Galbot_G1_fold_clothe_b",
|
| 557 |
"Galbot_G1_fold_clothe_c",
|
| 558 |
"Galbot_G1_fold_clothe_e",
|
| 559 |
"Galbot_G1_fold_clothes",
|
| 560 |
"Galbot_G1_fold_clothes_1",
|
| 561 |
+
"Galbot_G1_fold_clothes_3",
|
| 562 |
+
"Galbot_G1_fold_clothes_4",
|
| 563 |
+
"Galbot_G1_hang_clothes",
|
| 564 |
+
"Galbot_G1_hang_clothes_1",
|
| 565 |
+
"Galbot_G1_hang_clothes_2",
|
| 566 |
+
"Galbot_G1_hang_clothes_3",
|
| 567 |
+
"Galbot_G1_line_trash_can",
|
| 568 |
+
"Galbot_G1_line_trash_can_1",
|
| 569 |
+
"Galbot_G1_line_trash_can_2",
|
| 570 |
+
"Galbot_G1_line_trash_can_3",
|
| 571 |
+
"Galbot_G1_line_trash_can_4",
|
| 572 |
+
"Galbot_G1_load_floor_trash",
|
| 573 |
+
"Galbot_G1_load_floor_trash_1",
|
| 574 |
+
"Galbot_G1_load_floor_trash_2",
|
| 575 |
+
"Galbot_G1_load_floor_trash_4",
|
| 576 |
+
"Galbot_G1_load_floor_trash_6",
|
| 577 |
+
"Galbot_G1_load_floor_trash_7",
|
| 578 |
+
"Galbot_G1_move_stamp",
|
| 579 |
+
"Galbot_G1_move_takeout_bag",
|
| 580 |
+
"Galbot_G1_organize_table",
|
| 581 |
+
"Galbot_G1_pick_floor_trash",
|
| 582 |
+
"Galbot_G1_pick_floor_trash_1",
|
| 583 |
+
"Galbot_G1_pick_trash_can",
|
| 584 |
+
"Galbot_G1_pull_curtain",
|
| 585 |
+
"Galbot_G1_scrub_toilet",
|
| 586 |
"Galbot_G1_steamer_storage_baozi",
|
| 587 |
"Galbot_G1_steamer_storage_baozi_a",
|
| 588 |
"Galbot_G1_steamer_storage_baozi_b",
|
|
|
|
| 594 |
"Galbot_G1_steamer_storage_baozi_h",
|
| 595 |
"Galbot_G1_steamer_storage_baozi_i",
|
| 596 |
"Galbot_G1_steamer_storage_baozi_j",
|
| 597 |
+
"Galbot_G1_store_takeout_box",
|
| 598 |
+
"Galbot_G1_store_takeout_box_1",
|
| 599 |
"Galbot_G1_use_dryer",
|
| 600 |
"Galbot_G1_use_dryer_1",
|
| 601 |
+
"Galbot_G1_wipe_mirror",
|
| 602 |
"Leju_Kuavo_4_box_storage_parcel",
|
| 603 |
"Leju_Kuavo_4_box_storage_parcel_1",
|
| 604 |
"Leju_Kuavo_4_box_storage_parcel_10",
|
|
|
|
| 806 |
"Unitree_G1edu-u3_stack_bowls",
|
| 807 |
"Unitree_G1edu-u3_tray_storage_lemon_a"
|
| 808 |
],
|
| 809 |
+
"count": 805
|
| 810 |
}
|
info/download_stats.json
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
thumbnails/Galbot_G1_bag_table_trash_1.jpg
ADDED
|
Git LFS Details
|
thumbnails/Galbot_G1_bag_table_trash_2.jpg
ADDED
|
Git LFS Details
|
thumbnails/Galbot_G1_clear_sink_1.jpg
ADDED
|
Git LFS Details
|
thumbnails/Galbot_G1_clear_sink_trash_1.jpg
ADDED
|
Git LFS Details
|
thumbnails/Galbot_G1_clear_table_trash_1.jpg
ADDED
|
Git LFS Details
|
thumbnails/Galbot_G1_clear_table_trash_2.jpg
ADDED
|
Git LFS Details
|
thumbnails/Galbot_G1_clear_table_trash_3.jpg
ADDED
|
Git LFS Details
|
thumbnails/Galbot_G1_discard_towel_1.jpg
ADDED
|
Git LFS Details
|
thumbnails/Galbot_G1_fold_clothes_3.jpg
ADDED
|
Git LFS Details
|
thumbnails/Galbot_G1_fold_clothes_4.jpg
ADDED
|
Git LFS Details
|
thumbnails/Galbot_G1_hang_clothes.jpg
ADDED
|
Git LFS Details
|