diff --git a/dataset_info/Galbot_G1_bag_table_trash_1.yaml b/dataset_info/Galbot_G1_bag_table_trash_1.yaml new file mode 100644 index 0000000000000000000000000000000000000000..05c9063c253679c53c9bff08f5aefceaafa7923c --- /dev/null +++ b/dataset_info/Galbot_G1_bag_table_trash_1.yaml @@ -0,0 +1,521 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galbot_G1_bag_table_trash_1 +dataset_uuid: 9e7b2e79-0433-4428-8561-feec8a341308 +scene_type: + level1: Household + level2: Living Room + level3: null + level4: null + level5: null +env_type: real_world +objects: +- id: takeout_bag + name: takeout bag + color: none + anchor_policy: static +- id: '1' + name: disposable takeout box + color: transparent + anchor_policy: static +- id: wrinkled_tissue_paper + name: wrinkled tissue paper + color: white + anchor_policy: static +- id: apple + name: apple + color: other + anchor_policy: static +- id: '2' + name: disposable takeout box + color: white + anchor_policy: static +- id: table + name: table + color: brown + anchor_policy: static +task_operation_type: fixed_dual_arm +task_instruction: Pick up the trash from the table and place it into the takeout bag. +sub_tasks: +- Pick up the trash from the table and place it into the takeout bag. +atomic_actions: +- grasp +- place +robot_name: Galbot_G1 +end_effector_type: two_finger_end_effector +tele_type: master_arm +sensor_list: +- cam_right_head_rgb +- cam_left_head_rgb +- cam_right_wrist_rgb +- cam_left_wrist_rgb +came_info: + cam_right_head_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264, + pix_fmt=yuv420p + cam_left_head_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: radian +end_translation_dim: meter +base_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +statistics: + total_episodes: 437 + total_frames: 742698 + fps: 30 + total_tasks: 1 + total_videos: 1748 + total_chunks: 1 + chunks_size: 10000 + state_dim: 38 + action_dim: 38 + camera_views: 4 + dataset_size: 23.21 GB +frame_num: 742698 +frame_range: 1M +dataset_size: 23.21 GB +data_structure: 'Galbot_G1_bag_table_trash_1_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (425 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_left_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_head_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:436 +features: + action: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + - base_pos_x_m + - base_pos_y_m + - base_orient_quat_z + - base_orient_quat_w + - base_vel_x_m_s + - base_vel_y_m_s + - base_vel_angular_z_rad_s + shape: + - 38 + observation.state: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + - base_pos_x_m + - base_pos_y_m + - base_orient_quat_z + - base_orient_quat_w + - base_vel_x_m_s + - base_vel_y_m_s + - base_vel_angular_z_rad_s + shape: + - 38 + observation.images.cam_right_head_rgb: + dtype: video + shape: + - 720 + - 960 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 720 + video.width: 960 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_head_rgb: + dtype: video + shape: + - 720 + - 960 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 720 + video.width: 960 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 960 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 720 + video.width: 960 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 960 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 720 + video.width: 960 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Galbot_G1_bag_table_trash_2.yaml b/dataset_info/Galbot_G1_bag_table_trash_2.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e2c61c6dca26adc39a004a82e5063ed820f6307e --- /dev/null +++ b/dataset_info/Galbot_G1_bag_table_trash_2.yaml @@ -0,0 +1,461 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galbot_G1_bag_table_trash_2 +dataset_uuid: 35afbb0a-851c-426b-b816-bb0b57b28588 +scene_type: + level1: Household + level2: Living Room + level3: null + level4: null + level5: null +env_type: real_world +objects: +- id: table + name: table + color: brown + anchor_policy: static +- id: bottled_beverages + name: bottled beverages + color: red + anchor_policy: static +- id: '1' + name: disposable takeout box + color: brown + anchor_policy: static +- id: '2' + name: disposable takeout box + color: white + anchor_policy: static +- id: takeout_bag + name: takeout bag + color: none + anchor_policy: static +task_operation_type: fixed_dual_arm +task_instruction: Pick up the trash from the table and place it into the takeout bag. +sub_tasks: +- Pick up the trash from the table and place it into the takeout bag. +atomic_actions: +- grasp +- place +robot_name: Galbot_G1 +end_effector_type: two_finger_end_effector +tele_type: master_arm +sensor_list: +- cam_right_head_rgb +- cam_left_head_rgb +- cam_right_wrist_rgb +- cam_left_wrist_rgb +came_info: + cam_right_head_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264, + pix_fmt=yuv420p + cam_left_head_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: radian +end_translation_dim: meter +base_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +statistics: + total_episodes: 239 + total_frames: 492664 + fps: 30 + total_tasks: 1 + total_videos: 956 + total_chunks: 1 + chunks_size: 10000 + state_dim: 38 + action_dim: 38 + camera_views: 4 + dataset_size: 15.86 GB +frame_num: 492664 +frame_range: 1M +dataset_size: 15.86 GB +data_structure: "Galbot_G1_bag_table_trash_2_qced_hardlink/\n|-- annotations\n| \ + \ |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| \ + \ |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | `-- gripper_mode_annotation.jsonl\n|-- data\n| `-- chunk-000\n| |--\ + \ episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n\ + | |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| \ + \ |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ...\ + \ (227 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |--\ + \ observation.images.cam_left_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ + \ |-- observation.images.cam_right_head_rgb\n `-- observation.images.cam_right_wrist_rgb" +splits: + train: 0:238 +features: + action: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + - base_pos_x_m + - base_pos_y_m + - base_orient_quat_z + - base_orient_quat_w + - base_vel_x_m_s + - base_vel_y_m_s + - base_vel_angular_z_rad_s + shape: + - 38 + observation.state: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + - base_pos_x_m + - base_pos_y_m + - base_orient_quat_z + - base_orient_quat_w + - base_vel_x_m_s + - base_vel_y_m_s + - base_vel_angular_z_rad_s + shape: + - 38 + observation.images.cam_right_head_rgb: + dtype: video + shape: + - 720 + - 960 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 720 + video.width: 960 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_head_rgb: + dtype: video + shape: + - 720 + - 960 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 720 + video.width: 960 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 960 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 720 + video.width: 960 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 960 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 720 + video.width: 960 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_right_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Galbot_G1_clear_sink_1.yaml b/dataset_info/Galbot_G1_clear_sink_1.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1106429cb1366f109ac07591bc78baa267df70d9 --- /dev/null +++ b/dataset_info/Galbot_G1_clear_sink_1.yaml @@ -0,0 +1,502 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galbot_G1_clear_sink_1 +dataset_uuid: 466aac6c-578c-4232-8e34-b865dfdb121a +scene_type: + level1: Household + level2: Bathroom + level3: null + level4: null + level5: null +env_type: real_world +objects: +- id: towel + name: towel + color: black + anchor_policy: static +- id: facial_cleanser + name: facial cleanser + color: purple + anchor_policy: static +- id: shampoo + name: shampoo + color: white + anchor_policy: static +- id: washbasin + name: washbasin + color: white + anchor_policy: static +task_operation_type: mobile_dual_arm +task_instruction: Move facial cleanser and shampoo from washbasin to cabinet, then + wipe washbasin with towel. +sub_tasks: +- Move facial cleanser and shampoo from washbasin to cabinet, then wipe washbasin + with towel. +atomic_actions: +- move +- grasp +- place +- wipe +robot_name: Galbot_G1 +end_effector_type: two_finger_end_effector +tele_type: master_arm +sensor_list: +- cam_right_head_rgb +- cam_left_head_rgb +- cam_right_wrist_rgb +- cam_left_wrist_rgb +came_info: + cam_right_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_left_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +statistics: + total_episodes: 200 + total_frames: 221090 + fps: 30 + total_tasks: 1 + total_videos: 800 + total_chunks: 1 + chunks_size: 10000 + state_dim: 31 + action_dim: 31 + camera_views: 4 + dataset_size: 6.80 GB +frame_num: 221090 +frame_range: 1M +dataset_size: 6.80 GB +data_structure: 'Galbot_G1_clear_sink_1_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (188 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_left_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_head_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:199 +features: + action: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + shape: + - 31 + observation.state: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + shape: + - 31 + observation.images.cam_right_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Galbot_G1_clear_sink_trash_1.yaml b/dataset_info/Galbot_G1_clear_sink_trash_1.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5c84a5c84cf9622b3bc7e9d8d28334c2d3848b21 --- /dev/null +++ b/dataset_info/Galbot_G1_clear_sink_trash_1.yaml @@ -0,0 +1,506 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galbot_G1_clear_sink_trash_1 +dataset_uuid: 8ba25960-b9de-431d-aca8-436731f81955 +scene_type: + level1: Household + level2: Bathroom + level3: null + level4: null + level5: null +env_type: real_world +objects: +- id: toothpaste + name: toothpaste + color: white + anchor_policy: static +- id: '1' + name: toothpaste + color: white + anchor_policy: static +- id: toothpaste_packaging + name: toothpaste packaging + color: white + anchor_policy: static +- id: tissue_paper + name: tissue paper + color: white + anchor_policy: static +- id: washbasin + name: washbasin + color: brown + anchor_policy: static +- id: trash_can + name: trash can + color: black + anchor_policy: static +task_operation_type: fixed_single_arm +task_instruction: Pick up the trash from the sink and place it in the trash bin. +sub_tasks: +- Pick up the trash from the sink and place it in the trash bin. +atomic_actions: +- grasp +- place +robot_name: Galbot_G1 +end_effector_type: two_finger_end_effector +tele_type: master_arm +sensor_list: +- cam_right_head_rgb +- cam_left_head_rgb +- cam_right_wrist_rgb +- cam_left_wrist_rgb +came_info: + cam_right_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_left_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +statistics: + total_episodes: 198 + total_frames: 278064 + fps: 30 + total_tasks: 1 + total_videos: 792 + total_chunks: 1 + chunks_size: 10000 + state_dim: 31 + action_dim: 31 + camera_views: 4 + dataset_size: 14.91 GB +frame_num: 278064 +frame_range: 1M +dataset_size: 14.91 GB +data_structure: 'Galbot_G1_clear_sink_trash_1_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (186 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_left_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_head_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:197 +features: + action: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + shape: + - 31 + observation.state: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + shape: + - 31 + observation.images.cam_right_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Galbot_G1_clear_table_trash_1.yaml b/dataset_info/Galbot_G1_clear_table_trash_1.yaml new file mode 100644 index 0000000000000000000000000000000000000000..baad3354fde21700698151888ab2d1fb9b29304a --- /dev/null +++ b/dataset_info/Galbot_G1_clear_table_trash_1.yaml @@ -0,0 +1,508 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galbot_G1_clear_table_trash_1 +dataset_uuid: 0e9ed500-d135-4a01-bf41-31f504b337d4 +scene_type: + level1: Household + level2: Living Room + level3: null + level4: null + level5: null +env_type: real_world +objects: +- id: trash_can + name: trash can + color: black + anchor_policy: static +- id: bottled_beverages + name: bottled beverages + color: brown + anchor_policy: static +- id: canned_beverages + name: canned beverages + color: none + anchor_policy: static +- id: '1' + name: canned beverages + color: white + anchor_policy: static +- id: '2' + name: canned beverages + color: red + anchor_policy: static +- id: table + name: table + color: brown + anchor_policy: static +task_operation_type: mobile_dual_arm +task_instruction: Move to the front of the table and place the trash on the table + into the trash bin. +sub_tasks: +- Move to the front of the table and place the trash on the table into the trash bin. +atomic_actions: +- move +- grasp +- place +robot_name: Galbot_G1 +end_effector_type: two_finger_end_effector +tele_type: master_arm +sensor_list: +- cam_right_head_rgb +- cam_left_head_rgb +- cam_right_wrist_rgb +- cam_left_wrist_rgb +came_info: + cam_right_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_left_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +statistics: + total_episodes: 145 + total_frames: 267169 + fps: 30 + total_tasks: 1 + total_videos: 580 + total_chunks: 1 + chunks_size: 10000 + state_dim: 31 + action_dim: 31 + camera_views: 4 + dataset_size: 15.94 GB +frame_num: 267169 +frame_range: 1M +dataset_size: 15.94 GB +data_structure: 'Galbot_G1_clear_table_trash_1_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (133 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_left_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_head_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:144 +features: + action: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + shape: + - 31 + observation.state: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + shape: + - 31 + observation.images.cam_right_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Galbot_G1_clear_table_trash_2.yaml b/dataset_info/Galbot_G1_clear_table_trash_2.yaml new file mode 100644 index 0000000000000000000000000000000000000000..76c151e2eee90cd40a0337c880c88b11513e4b6e --- /dev/null +++ b/dataset_info/Galbot_G1_clear_table_trash_2.yaml @@ -0,0 +1,533 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galbot_G1_clear_table_trash_2 +dataset_uuid: 65814229-4323-4da6-a266-4caa6a7b7b9a +scene_type: + level1: Household + level2: Living Room + level3: null + level4: null + level5: null +env_type: real_world +objects: +- id: trash_can + name: trash can + color: blue + anchor_policy: static +- id: canned_beverages + name: canned beverages + color: red + anchor_policy: static +- id: disposable_cup_lid + name: disposable cup lid + color: white + anchor_policy: static +- id: medical_mask + name: medical mask + color: blue + anchor_policy: static +- id: paper_cup + name: paper cup + color: none + anchor_policy: static +- id: toothpaste_packaging + name: toothpaste packaging + color: black + anchor_policy: static +- id: toilet_paper + name: toilet paper + color: white + anchor_policy: static +- id: snack_wrapper + name: snack wrapper + color: yellow + anchor_policy: static +- id: table + name: table + color: white + anchor_policy: static +task_operation_type: fixed_dual_arm +task_instruction: Pick up the trash bin and place the trash from the table into it. +sub_tasks: +- Pick up the trash bin and place the trash from the table into it. +atomic_actions: +- grasp +- place +robot_name: Galbot_G1 +end_effector_type: two_finger_end_effector +tele_type: master_arm +sensor_list: +- cam_right_head_rgb +- cam_left_head_rgb +- cam_right_wrist_rgb +- cam_left_wrist_rgb +came_info: + cam_right_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_left_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: radian +end_translation_dim: meter +base_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +statistics: + total_episodes: 98 + total_frames: 327334 + fps: 30 + total_tasks: 1 + total_videos: 392 + total_chunks: 1 + chunks_size: 10000 + state_dim: 38 + action_dim: 38 + camera_views: 4 + dataset_size: 15.61 GB +frame_num: 327334 +frame_range: 1M +dataset_size: 15.61 GB +data_structure: 'Galbot_G1_clear_table_trash_2_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (86 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_left_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_head_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:97 +features: + action: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + - base_pos_x_m + - base_pos_y_m + - base_orient_quat_z + - base_orient_quat_w + - base_vel_x_m_s + - base_vel_y_m_s + - base_vel_angular_z_rad_s + shape: + - 38 + observation.state: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + - base_pos_x_m + - base_pos_y_m + - base_orient_quat_z + - base_orient_quat_w + - base_vel_x_m_s + - base_vel_y_m_s + - base_vel_angular_z_rad_s + shape: + - 38 + observation.images.cam_right_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Galbot_G1_clear_table_trash_3.yaml b/dataset_info/Galbot_G1_clear_table_trash_3.yaml new file mode 100644 index 0000000000000000000000000000000000000000..93801ba6619a4ba75be632c78a63bceb22f7da69 --- /dev/null +++ b/dataset_info/Galbot_G1_clear_table_trash_3.yaml @@ -0,0 +1,504 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galbot_G1_clear_table_trash_3 +dataset_uuid: 165b331c-c146-42f9-9478-840d49163647 +scene_type: + level1: Household + level2: Living Room + level3: null + level4: null + level5: null +env_type: real_world +objects: +- id: table + name: table + color: brown + anchor_policy: static +- id: trash_can + name: trash_can + color: black + anchor_policy: static +- id: water_bottle + name: water bottle + color: transparent + anchor_policy: static +- id: canned_beverages + name: canned beverages + color: none + anchor_policy: static +- id: tissue_paper + name: tissue paper + color: white + anchor_policy: static +task_operation_type: mobile_dual_arm +task_instruction: Move to the front of the table and place the trash on the table + into the trash bin. +sub_tasks: +- Move to the front of the table and place the trash on the table into the trash bin. +atomic_actions: +- move +- grasp +- place +robot_name: Galbot_G1 +end_effector_type: two_finger_end_effector +tele_type: master_arm +sensor_list: +- cam_right_head_rgb +- cam_left_head_rgb +- cam_right_wrist_rgb +- cam_left_wrist_rgb +came_info: + cam_right_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_left_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +statistics: + total_episodes: 295 + total_frames: 567065 + fps: 30 + total_tasks: 1 + total_videos: 1180 + total_chunks: 1 + chunks_size: 10000 + state_dim: 31 + action_dim: 31 + camera_views: 4 + dataset_size: 33.14 GB +frame_num: 567065 +frame_range: 1M +dataset_size: 33.14 GB +data_structure: 'Galbot_G1_clear_table_trash_3_qced_hardlink_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (283 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_left_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_head_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:294 +features: + action: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + shape: + - 31 + observation.state: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + shape: + - 31 + observation.images.cam_right_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Galbot_G1_discard_towel_1.yaml b/dataset_info/Galbot_G1_discard_towel_1.yaml new file mode 100644 index 0000000000000000000000000000000000000000..38e57d226522fa73ee5c4d0dbdf6118c7be04386 --- /dev/null +++ b/dataset_info/Galbot_G1_discard_towel_1.yaml @@ -0,0 +1,507 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galbot_G1_discard_towel_1 +dataset_uuid: 0332a3e7-1952-4bea-a691-e52e991bbb1a +scene_type: + level1: Household + level2: Bathroom + level3: null + level4: null + level5: null +env_type: real_world +objects: +- id: '1' + name: towel + color: white + anchor_policy: static +- id: '2' + name: towel + color: white + anchor_policy: static +- id: '3' + name: towel + color: white + anchor_policy: static +- id: hamper + name: hamper + color: black + anchor_policy: static +- id: washbasin + name: washbasin + color: brown + anchor_policy: static +- id: floor + name: floor + color: brown + anchor_policy: static +task_operation_type: mobile_dual_arm +task_instruction: Discard the used towel into the hamper. +sub_tasks: +- Discard the used towel into the hamper. +atomic_actions: +- move +- grasp +- place +robot_name: Galbot_G1 +end_effector_type: two_finger_end_effector +tele_type: master_arm +sensor_list: +- cam_right_head_rgb +- cam_left_head_rgb +- cam_right_wrist_rgb +- cam_left_wrist_rgb +came_info: + cam_right_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_left_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +statistics: + total_episodes: 200 + total_frames: 794078 + fps: 30 + total_tasks: 1 + total_videos: 800 + total_chunks: 1 + chunks_size: 10000 + state_dim: 31 + action_dim: 31 + camera_views: 4 + dataset_size: 33.24 GB +frame_num: 794078 +frame_range: 1M +dataset_size: 33.24 GB +data_structure: 'Galbot_G1_discard_towel_1_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (188 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_left_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_head_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:199 +features: + action: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + shape: + - 31 + observation.state: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + shape: + - 31 + observation.images.cam_right_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Galbot_G1_fold_clothes_3.yaml b/dataset_info/Galbot_G1_fold_clothes_3.yaml new file mode 100644 index 0000000000000000000000000000000000000000..eeecf4616c80a863aa30998804f10e76f177f167 --- /dev/null +++ b/dataset_info/Galbot_G1_fold_clothes_3.yaml @@ -0,0 +1,491 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galbot_G1_fold_clothes_3 +dataset_uuid: 99ca6920-4b22-4969-8973-08bd67b7437c +scene_type: + level1: Household + level2: Bedroom + level3: null + level4: null + level5: null +env_type: real_world +objects: +- id: clothes + name: clothes + color: black + anchor_policy: static +- id: bed + name: bed + color: white + anchor_policy: static +task_operation_type: mobile_dual_arm +task_instruction: Fold the clothes on the bed. +sub_tasks: +- Fold the clothes on the bed. +atomic_actions: +- grasp +- fold +- move +robot_name: Galbot_G1 +end_effector_type: two_finger_end_effector +tele_type: master_arm +sensor_list: +- cam_right_head_rgb +- cam_left_head_rgb +- cam_right_wrist_rgb +- cam_left_wrist_rgb +came_info: + cam_right_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_left_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +statistics: + total_episodes: 197 + total_frames: 629790 + fps: 30 + total_tasks: 1 + total_videos: 788 + total_chunks: 1 + chunks_size: 10000 + state_dim: 31 + action_dim: 31 + camera_views: 4 + dataset_size: 26.03 GB +frame_num: 629790 +frame_range: 1M +dataset_size: 26.03 GB +data_structure: 'Galbot_G1_fold_clothes_3_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (185 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_left_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_head_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:196 +features: + action: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + shape: + - 31 + observation.state: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + shape: + - 31 + observation.images.cam_right_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Galbot_G1_fold_clothes_4.yaml b/dataset_info/Galbot_G1_fold_clothes_4.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f24c3f70c9c04dffdca45e0aa8459641ed42ddbf --- /dev/null +++ b/dataset_info/Galbot_G1_fold_clothes_4.yaml @@ -0,0 +1,495 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galbot_G1_fold_clothes_4 +dataset_uuid: 570b72c8-664e-40f3-a08c-4af987ed76d7 +scene_type: + level1: Household + level2: Bedroom + level3: null + level4: null + level5: null +env_type: real_world +objects: +- id: t_shirt + name: T-shirt + color: black + anchor_policy: static +- id: basket + name: basket + color: brown + anchor_policy: static +- id: bed + name: bed + color: white + anchor_policy: static +task_operation_type: mobile_dual_arm +task_instruction: Fold the clothes on the bed and place them into the basket. +sub_tasks: +- Fold the clothes on the bed and place them into the basket. +atomic_actions: +- grasp +- fold +- place +robot_name: Galbot_G1 +end_effector_type: two_finger_end_effector +tele_type: master_arm +sensor_list: +- cam_right_head_rgb +- cam_left_head_rgb +- cam_right_wrist_rgb +- cam_left_wrist_rgb +came_info: + cam_right_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_left_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +statistics: + total_episodes: 24 + total_frames: 64971 + fps: 30 + total_tasks: 1 + total_videos: 96 + total_chunks: 1 + chunks_size: 10000 + state_dim: 31 + action_dim: 31 + camera_views: 4 + dataset_size: 2.67 GB +frame_num: 64971 +frame_range: 100K +dataset_size: 2.67 GB +data_structure: 'Galbot_G1_fold_clothes_4_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (12 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_left_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_head_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:23 +features: + action: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + shape: + - 31 + observation.state: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + shape: + - 31 + observation.images.cam_right_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Galbot_G1_hang_clothes.yaml b/dataset_info/Galbot_G1_hang_clothes.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a7e50361baffa0b0e0b9ac3faf5a59af19983d2b --- /dev/null +++ b/dataset_info/Galbot_G1_hang_clothes.yaml @@ -0,0 +1,495 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galbot_G1_hang_clothes +dataset_uuid: 483ecbc3-824c-419e-b4e7-a17df0553534 +scene_type: + level1: Retail + level2: Supermarket + level3: null + level4: null + level5: null +env_type: real_world +objects: +- id: clothes + name: clothes + color: blue + anchor_policy: static +- id: coat_stand + name: coat stand + color: brown + anchor_policy: static +- id: bed + name: bed + color: white + anchor_policy: static +task_operation_type: mobile_dual_arm +task_instruction: Pick up the clothes from the bed and hang them on the clothes hanger. +sub_tasks: +- Pick up the clothes from the bed and hang them on the clothes hanger. +atomic_actions: +- move +- grasp +- hang +robot_name: Galbot_G1 +end_effector_type: two_finger_end_effector +tele_type: master_arm +sensor_list: +- cam_right_head_rgb +- cam_left_head_rgb +- cam_right_wrist_rgb +- cam_left_wrist_rgb +came_info: + cam_right_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_left_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +statistics: + total_episodes: 181 + total_frames: 412110 + fps: 30 + total_tasks: 1 + total_videos: 724 + total_chunks: 1 + chunks_size: 10000 + state_dim: 31 + action_dim: 31 + camera_views: 4 + dataset_size: 19.70 GB +frame_num: 412110 +frame_range: 1M +dataset_size: 19.70 GB +data_structure: 'Galbot_G1_hang_clothes_0_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (169 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_left_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_head_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:180 +features: + action: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + shape: + - 31 + observation.state: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + shape: + - 31 + observation.images.cam_right_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Galbot_G1_hang_clothes_1.yaml b/dataset_info/Galbot_G1_hang_clothes_1.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e9ce00aadcadb79eace0d7d33b0f6a82f5e8b4d3 --- /dev/null +++ b/dataset_info/Galbot_G1_hang_clothes_1.yaml @@ -0,0 +1,494 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galbot_G1_hang_clothes_1 +dataset_uuid: 5209e4d2-b693-45c7-a537-a115c4bc1e5f +scene_type: + level1: Household + level2: Balcony + level3: null + level4: null + level5: null +env_type: real_world +objects: +- id: sofa + name: sofa + color: gray + anchor_policy: static +- id: clothes + name: clothes + color: blue + anchor_policy: static +- id: clothes_hanger + name: clothes hanger + color: brown + anchor_policy: static +task_operation_type: fixed_dual_arm +task_instruction: Pick up the clothes from the sofa and hang them on the clothes hanger. +sub_tasks: +- Pick up the clothes from the sofa and hang them on the clothes hanger. +atomic_actions: +- grasp +- hang +robot_name: Galbot_G1 +end_effector_type: two_finger_end_effector +tele_type: master_arm +sensor_list: +- cam_right_head_rgb +- cam_left_head_rgb +- cam_right_wrist_rgb +- cam_left_wrist_rgb +came_info: + cam_right_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_left_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +statistics: + total_episodes: 43 + total_frames: 87887 + fps: 30 + total_tasks: 1 + total_videos: 172 + total_chunks: 1 + chunks_size: 10000 + state_dim: 31 + action_dim: 31 + camera_views: 4 + dataset_size: 2.99 GB +frame_num: 87887 +frame_range: 100K +dataset_size: 2.99 GB +data_structure: 'Galbot_G1_hang_clothes_1_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (31 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_left_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_head_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:42 +features: + action: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + shape: + - 31 + observation.state: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + shape: + - 31 + observation.images.cam_right_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Galbot_G1_hang_clothes_2.yaml b/dataset_info/Galbot_G1_hang_clothes_2.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6676b604b8b79ae5fbd2c60ef049a08daec7ba62 --- /dev/null +++ b/dataset_info/Galbot_G1_hang_clothes_2.yaml @@ -0,0 +1,491 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galbot_G1_hang_clothes_2 +dataset_uuid: 58e49188-3847-4b10-b3dc-6c0931901dbc +scene_type: + level1: Household + level2: Balcony + level3: null + level4: null + level5: null +env_type: real_world +objects: +- id: clothes_hanger + name: clothes hanger + color: brown + anchor_policy: static +- id: clothes + name: clothes + color: gray + anchor_policy: static +task_operation_type: mobile_single_arm +task_instruction: Pick up the garment and hang it on the hanger. +sub_tasks: +- Pick up the garment and hang it on the hanger. +atomic_actions: +- move +- grasp +- hang +robot_name: Galbot_G1 +end_effector_type: two_finger_end_effector +tele_type: master_arm +sensor_list: +- cam_right_head_rgb +- cam_left_head_rgb +- cam_right_wrist_rgb +- cam_left_wrist_rgb +came_info: + cam_right_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_left_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +statistics: + total_episodes: 200 + total_frames: 140773 + fps: 30 + total_tasks: 1 + total_videos: 800 + total_chunks: 1 + chunks_size: 10000 + state_dim: 31 + action_dim: 31 + camera_views: 4 + dataset_size: 5.79 GB +frame_num: 140773 +frame_range: 1M +dataset_size: 5.79 GB +data_structure: 'Galbot_G1_hang_clothes_2_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (188 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_left_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_head_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:199 +features: + action: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + shape: + - 31 + observation.state: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + shape: + - 31 + observation.images.cam_right_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Galbot_G1_hang_clothes_3.yaml b/dataset_info/Galbot_G1_hang_clothes_3.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7c8b8f3fbb460af0d5ccfc2ab222b9fb2f8f5644 --- /dev/null +++ b/dataset_info/Galbot_G1_hang_clothes_3.yaml @@ -0,0 +1,509 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galbot_G1_hang_clothes_3 +dataset_uuid: 5209e4d2-b693-45c7-a537-a115c4bc1e5f +scene_type: + level1: Household + level2: Balcony + level3: null + level4: null + level5: null +env_type: real_world +objects: +- id: sofa + name: sofa + color: gray + anchor_policy: static +- id: clothes + name: clothes + color: blue + anchor_policy: static +- id: clothes_hanger + name: clothes hanger + color: brown + anchor_policy: static +task_operation_type: fixed_dual_arm +task_instruction: Pick up the clothes from the sofa and hang them on the clothes hanger. +sub_tasks: +- Pick up the clothes from the sofa and hang them on the clothes hanger. +atomic_actions: +- grasp +- hang +robot_name: Galbot_G1 +end_effector_type: two_finger_end_effector +tele_type: master_arm +sensor_list: +- cam_right_head_rgb +- cam_left_head_rgb +- cam_right_wrist_rgb +- cam_left_wrist_rgb +came_info: + cam_right_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_left_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: radian +end_translation_dim: meter +base_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +statistics: + total_episodes: 193 + total_frames: 358533 + fps: 30 + total_tasks: 1 + total_videos: 772 + total_chunks: 1 + chunks_size: 10000 + state_dim: 38 + action_dim: 38 + camera_views: 4 + dataset_size: 11.80 GB +frame_num: 358533 +frame_range: 1M +dataset_size: 11.80 GB +data_structure: 'Galbot_G1_hang_clothes_3_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (181 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_left_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_head_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:192 +features: + action: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + - base_pos_x_m + - base_pos_y_m + - base_orient_quat_z + - base_orient_quat_w + - base_vel_x_m_s + - base_vel_y_m_s + - base_vel_angular_z_rad_s + shape: + - 38 + observation.state: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + - base_pos_x_m + - base_pos_y_m + - base_orient_quat_z + - base_orient_quat_w + - base_vel_x_m_s + - base_vel_y_m_s + - base_vel_angular_z_rad_s + shape: + - 38 + observation.images.cam_right_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Galbot_G1_line_trash_can.yaml b/dataset_info/Galbot_G1_line_trash_can.yaml new file mode 100644 index 0000000000000000000000000000000000000000..41ced6c70018f65d994210bf9a76a5748e2a8dc5 --- /dev/null +++ b/dataset_info/Galbot_G1_line_trash_can.yaml @@ -0,0 +1,511 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galbot_G1_line_trash_can +dataset_uuid: 1ad2a8f2-1a21-41f5-b08f-a8aad710c25e +scene_type: + level1: Household + level2: Kitchen + level3: null + level4: null + level5: null +env_type: real_world +objects: +- id: table + name: table + color: brown + anchor_policy: static +- id: trash_bag + name: trash bag + color: gray + anchor_policy: static +- id: trash_can + name: trash can + color: green + anchor_policy: static +task_operation_type: fixed_dual_arm +task_instruction: Pick up the garbage bag from the table and place it over the trash + can. +sub_tasks: +- Pick up the garbage bag from the table and place it over the trash can. +atomic_actions: +- grasp +- open +- wear +robot_name: Galbot_G1 +end_effector_type: two_finger_end_effector +tele_type: master_arm +sensor_list: +- cam_right_head_rgb +- cam_left_head_rgb +- cam_right_wrist_rgb +- cam_left_wrist_rgb +came_info: + cam_right_head_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264, + pix_fmt=yuv420p + cam_left_head_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: radian +end_translation_dim: meter +base_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +statistics: + total_episodes: 422 + total_frames: 490157 + fps: 30 + total_tasks: 1 + total_videos: 1688 + total_chunks: 1 + chunks_size: 10000 + state_dim: 38 + action_dim: 38 + camera_views: 4 + dataset_size: 19.43 GB +frame_num: 490157 +frame_range: 1M +dataset_size: 19.43 GB +data_structure: 'Galbot_G1_line_trash_can_0_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (410 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_left_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_head_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:421 +features: + action: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + - base_pos_x_m + - base_pos_y_m + - base_orient_quat_z + - base_orient_quat_w + - base_vel_x_m_s + - base_vel_y_m_s + - base_vel_angular_z_rad_s + shape: + - 38 + observation.state: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + - base_pos_x_m + - base_pos_y_m + - base_orient_quat_z + - base_orient_quat_w + - base_vel_x_m_s + - base_vel_y_m_s + - base_vel_angular_z_rad_s + shape: + - 38 + observation.images.cam_right_head_rgb: + dtype: video + shape: + - 720 + - 960 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 720 + video.width: 960 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_head_rgb: + dtype: video + shape: + - 720 + - 960 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 720 + video.width: 960 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 960 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 720 + video.width: 960 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 960 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 720 + video.width: 960 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Galbot_G1_line_trash_can_1.yaml b/dataset_info/Galbot_G1_line_trash_can_1.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ab7a1c9951b5515f84edbc368ef929b43c6166ff --- /dev/null +++ b/dataset_info/Galbot_G1_line_trash_can_1.yaml @@ -0,0 +1,509 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galbot_G1_line_trash_can_1 +dataset_uuid: db253846-ea20-4923-b340-754451e17150 +scene_type: + level1: Household + level2: Bedroom + level3: null + level4: null + level5: null +env_type: real_world +objects: +- id: trash_can + name: trash can + color: white + anchor_policy: static +- id: trash_bag + name: trash bag + color: black + anchor_policy: static +- id: wall + name: wall + color: white + anchor_policy: static +task_operation_type: fixed_dual_arm +task_instruction: Place a trash bag onto the trash bin. +sub_tasks: +- Place a trash bag onto the trash bin. +atomic_actions: +- grasp +- place +robot_name: Galbot_G1 +end_effector_type: two_finger_end_effector +tele_type: master_arm +sensor_list: +- cam_right_head_rgb +- cam_left_head_rgb +- cam_right_wrist_rgb +- cam_left_wrist_rgb +came_info: + cam_right_head_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264, + pix_fmt=yuv420p + cam_left_head_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: radian +end_translation_dim: meter +base_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +statistics: + total_episodes: 132 + total_frames: 200986 + fps: 30 + total_tasks: 1 + total_videos: 528 + total_chunks: 1 + chunks_size: 10000 + state_dim: 38 + action_dim: 38 + camera_views: 4 + dataset_size: 8.12 GB +frame_num: 200986 +frame_range: 1M +dataset_size: 8.12 GB +data_structure: 'Galbot_G1_line_trash_can_1_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (120 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_left_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_head_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:131 +features: + action: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + - base_pos_x_m + - base_pos_y_m + - base_orient_quat_z + - base_orient_quat_w + - base_vel_x_m_s + - base_vel_y_m_s + - base_vel_angular_z_rad_s + shape: + - 38 + observation.state: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + - base_pos_x_m + - base_pos_y_m + - base_orient_quat_z + - base_orient_quat_w + - base_vel_x_m_s + - base_vel_y_m_s + - base_vel_angular_z_rad_s + shape: + - 38 + observation.images.cam_right_head_rgb: + dtype: video + shape: + - 720 + - 960 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 720 + video.width: 960 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_head_rgb: + dtype: video + shape: + - 720 + - 960 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 720 + video.width: 960 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 960 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 720 + video.width: 960 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 960 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 720 + video.width: 960 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Galbot_G1_line_trash_can_2.yaml b/dataset_info/Galbot_G1_line_trash_can_2.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e39d4ae2169c612e0484b564c6e27d0011223ef1 --- /dev/null +++ b/dataset_info/Galbot_G1_line_trash_can_2.yaml @@ -0,0 +1,494 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galbot_G1_line_trash_can_2 +dataset_uuid: 779f8d3a-72dc-4fed-b012-8f9e9c45fc66 +scene_type: + level1: Household + level2: Living Room + level3: null + level4: null + level5: null +env_type: real_world +objects: +- id: trash_bag + name: trash bag + color: blue + anchor_policy: static +- id: '1' + name: trash bag + color: red + anchor_policy: static +- id: trash_can + name: trash can + color: black + anchor_policy: static +task_operation_type: fixed_dual_arm +task_instruction: Place a garbage bag over the trash bin. +sub_tasks: +- Place a garbage bag over the trash bin. +atomic_actions: +- move +- place +robot_name: Galbot_G1 +end_effector_type: two_finger_end_effector +tele_type: master_arm +sensor_list: +- cam_right_head_rgb +- cam_left_head_rgb +- cam_right_wrist_rgb +- cam_left_wrist_rgb +came_info: + cam_right_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_left_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +statistics: + total_episodes: 71 + total_frames: 176366 + fps: 30 + total_tasks: 1 + total_videos: 284 + total_chunks: 1 + chunks_size: 10000 + state_dim: 31 + action_dim: 31 + camera_views: 4 + dataset_size: 11.24 GB +frame_num: 176366 +frame_range: 1M +dataset_size: 11.24 GB +data_structure: 'Galbot_G1_line_trash_can_2_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (59 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_left_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_head_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:70 +features: + action: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + shape: + - 31 + observation.state: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + shape: + - 31 + observation.images.cam_right_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Galbot_G1_line_trash_can_3.yaml b/dataset_info/Galbot_G1_line_trash_can_3.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1794b6de92612a0d07fafb7ab65a02766f24bfbf --- /dev/null +++ b/dataset_info/Galbot_G1_line_trash_can_3.yaml @@ -0,0 +1,510 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galbot_G1_line_trash_can_3 +dataset_uuid: 3b533f42-dc34-4e77-ad1d-b22e04531544 +scene_type: + level1: Household + level2: Living Room + level3: null + level4: null + level5: null +env_type: real_world +objects: +- id: trash_bag + name: trash bag + color: black + anchor_policy: static +- id: trash_can + name: trash can + color: white + anchor_policy: static +- id: wall + name: wall + color: white + anchor_policy: static +task_operation_type: fixed_dual_arm +task_instruction: Place the garbage bag over the trash bin. +sub_tasks: +- Place the garbage bag over the trash bin. +atomic_actions: +- grasp +- open +- wear +robot_name: Galbot_G1 +end_effector_type: two_finger_end_effector +tele_type: master_arm +sensor_list: +- cam_right_head_rgb +- cam_left_head_rgb +- cam_right_wrist_rgb +- cam_left_wrist_rgb +came_info: + cam_right_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_left_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: radian +end_translation_dim: meter +base_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +statistics: + total_episodes: 277 + total_frames: 612547 + fps: 30 + total_tasks: 1 + total_videos: 1108 + total_chunks: 1 + chunks_size: 10000 + state_dim: 38 + action_dim: 38 + camera_views: 4 + dataset_size: 19.24 GB +frame_num: 612547 +frame_range: 1M +dataset_size: 19.24 GB +data_structure: 'Galbot_G1_line_trash_can_3_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (265 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_left_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_head_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:276 +features: + action: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + - base_pos_x_m + - base_pos_y_m + - base_orient_quat_z + - base_orient_quat_w + - base_vel_x_m_s + - base_vel_y_m_s + - base_vel_angular_z_rad_s + shape: + - 38 + observation.state: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + - base_pos_x_m + - base_pos_y_m + - base_orient_quat_z + - base_orient_quat_w + - base_vel_x_m_s + - base_vel_y_m_s + - base_vel_angular_z_rad_s + shape: + - 38 + observation.images.cam_right_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Galbot_G1_line_trash_can_4.yaml b/dataset_info/Galbot_G1_line_trash_can_4.yaml new file mode 100644 index 0000000000000000000000000000000000000000..36133ccfa97d87918064ad2513199c42819bd4ec --- /dev/null +++ b/dataset_info/Galbot_G1_line_trash_can_4.yaml @@ -0,0 +1,511 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galbot_G1_line_trash_can_4 +dataset_uuid: c2db0b0e-a6ad-40a7-b4c5-8abf9bed462c +scene_type: + level1: Household + level2: Living Room + level3: null + level4: null + level5: null +env_type: real_world +objects: +- id: trash_bag + name: trash bag + color: none + anchor_policy: static +- id: trash_can + name: trash can + color: black + anchor_policy: static +- id: wall + name: wall + color: white + anchor_policy: static +task_operation_type: fixed_dual_arm +task_instruction: Pick up the garbage bag from the wall and place it over the trash + bin. +sub_tasks: +- Pick up the garbage bag from the wall and place it over the trash bin. +atomic_actions: +- grasp +- open +- wear +robot_name: Galbot_G1 +end_effector_type: two_finger_end_effector +tele_type: master_arm +sensor_list: +- cam_right_head_rgb +- cam_left_head_rgb +- cam_right_wrist_rgb +- cam_left_wrist_rgb +came_info: + cam_right_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_left_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: radian +end_translation_dim: meter +base_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +statistics: + total_episodes: 256 + total_frames: 570705 + fps: 30 + total_tasks: 1 + total_videos: 1024 + total_chunks: 1 + chunks_size: 10000 + state_dim: 38 + action_dim: 38 + camera_views: 4 + dataset_size: 21.95 GB +frame_num: 570705 +frame_range: 1M +dataset_size: 21.95 GB +data_structure: 'Galbot_G1_line_trash_can_4_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (244 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_left_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_head_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:255 +features: + action: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + - base_pos_x_m + - base_pos_y_m + - base_orient_quat_z + - base_orient_quat_w + - base_vel_x_m_s + - base_vel_y_m_s + - base_vel_angular_z_rad_s + shape: + - 38 + observation.state: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + - base_pos_x_m + - base_pos_y_m + - base_orient_quat_z + - base_orient_quat_w + - base_vel_x_m_s + - base_vel_y_m_s + - base_vel_angular_z_rad_s + shape: + - 38 + observation.images.cam_right_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Galbot_G1_load_floor_trash.yaml b/dataset_info/Galbot_G1_load_floor_trash.yaml new file mode 100644 index 0000000000000000000000000000000000000000..104e27ac9c26789ca38dacf1fa8ca1c34b051f89 --- /dev/null +++ b/dataset_info/Galbot_G1_load_floor_trash.yaml @@ -0,0 +1,503 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galbot_G1_load_floor_trash +dataset_uuid: 94d76e68-3c11-43f1-bb95-81d3df40bcfa +scene_type: + level1: Household + level2: Living Room + level3: null + level4: null + level5: null +env_type: real_world +objects: +- id: trash_can + name: trash can + color: black + anchor_policy: static +- id: tissue_paper + name: tissue paper + color: white + anchor_policy: static +- id: '1' + name: tissue paper + color: white + anchor_policy: static +- id: water_bottle + name: water bottle + color: transparent + anchor_policy: static +- id: floor + name: floor + color: brown + anchor_policy: static +task_operation_type: mobile_dual_arm +task_instruction: Pick up the trash bin and place the garbage on the floor into it. +sub_tasks: +- Pick up the trash bin and place the garbage on the floor into it. +atomic_actions: +- move +- grasp +- place +robot_name: Galbot_G1 +end_effector_type: two_finger_end_effector +tele_type: master_arm +sensor_list: +- cam_right_head_rgb +- cam_left_head_rgb +- cam_right_wrist_rgb +- cam_left_wrist_rgb +came_info: + cam_right_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_left_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +statistics: + total_episodes: 200 + total_frames: 356938 + fps: 30 + total_tasks: 1 + total_videos: 800 + total_chunks: 1 + chunks_size: 10000 + state_dim: 31 + action_dim: 31 + camera_views: 4 + dataset_size: 14.50 GB +frame_num: 356938 +frame_range: 1M +dataset_size: 14.50 GB +data_structure: 'Galbot_G1_load_floor_trash_0_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (188 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_left_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_head_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:199 +features: + action: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + shape: + - 31 + observation.state: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + shape: + - 31 + observation.images.cam_right_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Galbot_G1_load_floor_trash_1.yaml b/dataset_info/Galbot_G1_load_floor_trash_1.yaml new file mode 100644 index 0000000000000000000000000000000000000000..14c3620f0b82127510e659155864fdb09551f51b --- /dev/null +++ b/dataset_info/Galbot_G1_load_floor_trash_1.yaml @@ -0,0 +1,534 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galbot_G1_load_floor_trash_1 +dataset_uuid: e6badd0c-7f83-48c9-910a-de9248088890 +scene_type: + level1: Household + level2: Living Room + level3: null + level4: null + level5: null +env_type: real_world +objects: +- id: trash_can + name: trash can + color: black + anchor_policy: static +- id: floor + name: floor + color: brown + anchor_policy: static +- id: canned_beverages + name: canned beverages + color: red + anchor_policy: static +- id: paper_cup + name: paper cup + color: white + anchor_policy: static +- id: disposable_cup_lid + name: disposable cup lid + color: white + anchor_policy: static +- id: toothpaste_packaging + name: toothpaste packaging + color: other + anchor_policy: static +- id: tissue_paper + name: tissue paper + color: brown + anchor_policy: static +- id: popcorn + name: popcorn + color: yellow + anchor_policy: static +- id: medical_mask + name: medical mask + color: green + anchor_policy: static +task_operation_type: mobile_dual_arm +task_instruction: Pick up the trash bin and place the garbage on the floor into it. +sub_tasks: +- Pick up the trash bin and place the garbage on the floor into it. +atomic_actions: +- move +- grasp +- place +robot_name: Galbot_G1 +end_effector_type: two_finger_end_effector +tele_type: master_arm +sensor_list: +- cam_right_head_rgb +- cam_left_head_rgb +- cam_right_wrist_rgb +- cam_left_wrist_rgb +came_info: + cam_right_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_left_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: radian +end_translation_dim: meter +base_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +statistics: + total_episodes: 100 + total_frames: 229017 + fps: 30 + total_tasks: 1 + total_videos: 400 + total_chunks: 1 + chunks_size: 10000 + state_dim: 38 + action_dim: 38 + camera_views: 4 + dataset_size: 11.05 GB +frame_num: 229017 +frame_range: 1M +dataset_size: 11.05 GB +data_structure: 'Galbot_G1_load_floor_trash_1_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (88 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_left_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_head_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:99 +features: + action: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + - base_pos_x_m + - base_pos_y_m + - base_orient_quat_z + - base_orient_quat_w + - base_vel_x_m_s + - base_vel_y_m_s + - base_vel_angular_z_rad_s + shape: + - 38 + observation.state: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + - base_pos_x_m + - base_pos_y_m + - base_orient_quat_z + - base_orient_quat_w + - base_vel_x_m_s + - base_vel_y_m_s + - base_vel_angular_z_rad_s + shape: + - 38 + observation.images.cam_right_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Galbot_G1_load_floor_trash_2.yaml b/dataset_info/Galbot_G1_load_floor_trash_2.yaml new file mode 100644 index 0000000000000000000000000000000000000000..92d48a8c7ffa8cc5424c7467db8a0f8cf9b062d6 --- /dev/null +++ b/dataset_info/Galbot_G1_load_floor_trash_2.yaml @@ -0,0 +1,526 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galbot_G1_load_floor_trash_2 +dataset_uuid: 34216722-2fcd-45b8-a8ae-61321f6bd9cc +scene_type: + level1: Household + level2: Bedroom + level3: null + level4: null + level5: null +env_type: real_world +objects: +- id: trash_can + name: trash can + color: black + anchor_policy: static +- id: canned_beverages + name: canned beverages + color: red + anchor_policy: static +- id: slippers + name: Slippers + color: white + anchor_policy: static +- id: paper_ball + name: paper ball + color: white + anchor_policy: static +- id: straw + name: straw + color: brown + anchor_policy: static +- id: disposable_takeout_box + name: disposable takeout box + color: red + anchor_policy: static +- id: ice_cream_wrapper + name: ice cream wrapper + color: red + anchor_policy: static +task_operation_type: mobile_dual_arm +task_instruction: Pick up the trash bin and place the garbage on the floor into it. +sub_tasks: +- Pick up the trash bin and place the garbage on the floor into it. +atomic_actions: +- move +- grasp +- place +robot_name: Galbot_G1 +end_effector_type: two_finger_end_effector +tele_type: master_arm +sensor_list: +- cam_right_head_rgb +- cam_left_head_rgb +- cam_right_wrist_rgb +- cam_left_wrist_rgb +came_info: + cam_right_head_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264, + pix_fmt=yuv420p + cam_left_head_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: radian +end_translation_dim: meter +base_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +statistics: + total_episodes: 82 + total_frames: 312911 + fps: 30 + total_tasks: 1 + total_videos: 328 + total_chunks: 1 + chunks_size: 10000 + state_dim: 38 + action_dim: 38 + camera_views: 4 + dataset_size: 26.04 GB +frame_num: 312911 +frame_range: 1M +dataset_size: 26.04 GB +data_structure: 'Galbot_G1_load_floor_trash_2_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (70 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_left_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_head_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:81 +features: + action: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + - base_pos_x_m + - base_pos_y_m + - base_orient_quat_z + - base_orient_quat_w + - base_vel_x_m_s + - base_vel_y_m_s + - base_vel_angular_z_rad_s + shape: + - 38 + observation.state: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + - base_pos_x_m + - base_pos_y_m + - base_orient_quat_z + - base_orient_quat_w + - base_vel_x_m_s + - base_vel_y_m_s + - base_vel_angular_z_rad_s + shape: + - 38 + observation.images.cam_right_head_rgb: + dtype: video + shape: + - 720 + - 960 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 720 + video.width: 960 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_head_rgb: + dtype: video + shape: + - 720 + - 960 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 720 + video.width: 960 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 960 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 720 + video.width: 960 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 960 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 720 + video.width: 960 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Galbot_G1_load_floor_trash_4.yaml b/dataset_info/Galbot_G1_load_floor_trash_4.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bc0bc2da00bc9734104fed119fbdc7a2cbb26d09 --- /dev/null +++ b/dataset_info/Galbot_G1_load_floor_trash_4.yaml @@ -0,0 +1,534 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galbot_G1_load_floor_trash_4 +dataset_uuid: ee48de83-304e-4240-b9f1-7cb45f91e788 +scene_type: + level1: Household + level2: Living Room + level3: null + level4: null + level5: null +env_type: real_world +objects: +- id: trash_can + name: trash can + color: black + anchor_policy: static +- id: '1' + name: tissue paper + color: white + anchor_policy: static +- id: '2' + name: tissue paper + color: white + anchor_policy: static +- id: medical_mask + name: medical mask + color: blue + anchor_policy: static +- id: disposable_takeout_box + name: disposable takeout box + color: brown + anchor_policy: static +- id: water_bottle + name: water bottle + color: transparent + anchor_policy: static +- id: canned_beverages + name: canned beverages + color: red + anchor_policy: static +- id: bottled_beverages + name: bottled beverages + color: brown + anchor_policy: static +- id: floor + name: floor + color: brown + anchor_policy: static +task_operation_type: mobile_dual_arm +task_instruction: Pick up the trash bin and place the garbage on the floor into it. +sub_tasks: +- Pick up the trash bin and place the garbage on the floor into it. +atomic_actions: +- move +- grasp +- place +robot_name: Galbot_G1 +end_effector_type: two_finger_end_effector +tele_type: master_arm +sensor_list: +- cam_right_head_rgb +- cam_left_head_rgb +- cam_right_wrist_rgb +- cam_left_wrist_rgb +came_info: + cam_right_head_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264, + pix_fmt=yuv420p + cam_left_head_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: radian +end_translation_dim: meter +base_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +statistics: + total_episodes: 50 + total_frames: 189275 + fps: 30 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 10000 + state_dim: 38 + action_dim: 38 + camera_views: 4 + dataset_size: 16.17 GB +frame_num: 189275 +frame_range: 1M +dataset_size: 16.17 GB +data_structure: 'Galbot_G1_load_floor_trash_4_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_left_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_head_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + action: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + - base_pos_x_m + - base_pos_y_m + - base_orient_quat_z + - base_orient_quat_w + - base_vel_x_m_s + - base_vel_y_m_s + - base_vel_angular_z_rad_s + shape: + - 38 + observation.state: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + - base_pos_x_m + - base_pos_y_m + - base_orient_quat_z + - base_orient_quat_w + - base_vel_x_m_s + - base_vel_y_m_s + - base_vel_angular_z_rad_s + shape: + - 38 + observation.images.cam_right_head_rgb: + dtype: video + shape: + - 720 + - 960 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 720 + video.width: 960 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_head_rgb: + dtype: video + shape: + - 720 + - 960 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 720 + video.width: 960 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 960 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 720 + video.width: 960 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 960 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 720 + video.width: 960 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Galbot_G1_load_floor_trash_6.yaml b/dataset_info/Galbot_G1_load_floor_trash_6.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7b6b7fd0f1e15da66064d2eb63e1eaf8c675a1c8 --- /dev/null +++ b/dataset_info/Galbot_G1_load_floor_trash_6.yaml @@ -0,0 +1,538 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galbot_G1_load_floor_trash_6 +dataset_uuid: 1436a50c-9878-4386-9086-95c3a587c0d6 +scene_type: + level1: Household + level2: Bedroom + level3: null + level4: null + level5: null +env_type: real_world +objects: +- id: slippers + name: Slippers + color: white + anchor_policy: static +- id: water_bottle + name: water bottle + color: transparent + anchor_policy: static +- id: plastic_bag + name: plastic bag + color: none + anchor_policy: static +- id: straw + name: straw + color: brown + anchor_policy: static +- id: paper_cup + name: paper cup + color: none + anchor_policy: static +- id: medical_mask + name: medical mask + color: blue + anchor_policy: static +- id: disposable_takeout_box + name: disposable takeout box + color: red + anchor_policy: static +- id: canned_beverages + name: canned beverages + color: red + anchor_policy: static +- id: floor_mat + name: floor mat + color: brown + anchor_policy: static +- id: trash_can + name: trash can + color: black + anchor_policy: static +task_operation_type: mobile_dual_arm +task_instruction: Pick up the trash bin and place the garbage on the floor into it. +sub_tasks: +- Pick up the trash bin and place the garbage on the floor into it. +atomic_actions: +- move +- grasp +- place +robot_name: Galbot_G1 +end_effector_type: two_finger_end_effector +tele_type: master_arm +sensor_list: +- cam_right_head_rgb +- cam_left_head_rgb +- cam_right_wrist_rgb +- cam_left_wrist_rgb +came_info: + cam_right_head_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264, + pix_fmt=yuv420p + cam_left_head_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: radian +end_translation_dim: meter +base_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +statistics: + total_episodes: 147 + total_frames: 699847 + fps: 30 + total_tasks: 1 + total_videos: 588 + total_chunks: 1 + chunks_size: 10000 + state_dim: 38 + action_dim: 38 + camera_views: 4 + dataset_size: 63.03 GB +frame_num: 699847 +frame_range: 1M +dataset_size: 63.03 GB +data_structure: 'Galbot_G1_load_floor_trash_6_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (135 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_left_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_head_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:146 +features: + action: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + - base_pos_x_m + - base_pos_y_m + - base_orient_quat_z + - base_orient_quat_w + - base_vel_x_m_s + - base_vel_y_m_s + - base_vel_angular_z_rad_s + shape: + - 38 + observation.state: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + - base_pos_x_m + - base_pos_y_m + - base_orient_quat_z + - base_orient_quat_w + - base_vel_x_m_s + - base_vel_y_m_s + - base_vel_angular_z_rad_s + shape: + - 38 + observation.images.cam_right_head_rgb: + dtype: video + shape: + - 720 + - 960 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 720 + video.width: 960 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_head_rgb: + dtype: video + shape: + - 720 + - 960 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 720 + video.width: 960 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 960 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 720 + video.width: 960 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 960 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 720 + video.width: 960 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Galbot_G1_load_floor_trash_7.yaml b/dataset_info/Galbot_G1_load_floor_trash_7.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d9f5aedb85e8a6ed26ae740986a511a86c1b90b --- /dev/null +++ b/dataset_info/Galbot_G1_load_floor_trash_7.yaml @@ -0,0 +1,536 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galbot_G1_load_floor_trash_7 +dataset_uuid: 984280c3-0e94-4ade-a2b5-8612d75ed88f +scene_type: + level1: Household + level2: Bedroom + level3: null + level4: null + level5: null +env_type: real_world +objects: +- id: floor_mat + name: floor mat + color: brown + anchor_policy: static +- id: trash_can + name: trash can + color: black + anchor_policy: static +- id: '1' + name: disposable takeout box + color: red + anchor_policy: static +- id: '3' + name: ice cream wrapper + color: none + anchor_policy: static +- id: '2' + name: disposable takeout box + color: brown + anchor_policy: static +- id: snack_wrapper + name: snack wrapper + color: red + anchor_policy: static +- id: '5' + name: ice cream wrapper + color: none + anchor_policy: static +- id: water_bottle + name: water bottle + color: transparent + anchor_policy: static +- id: '4' + name: disposable takeout box + color: red + anchor_policy: static +task_operation_type: mobile_dual_arm +task_instruction: Pick up the trash bin, then pick up the garbage from the floor and + place it into the trash bin. +sub_tasks: +- Pick up the trash bin, then pick up the garbage from the floor and place it into + the trash bin. +atomic_actions: +- move +- grasp +- place +robot_name: Galbot_G1 +end_effector_type: two_finger_end_effector +tele_type: master_arm +sensor_list: +- cam_right_head_rgb +- cam_left_head_rgb +- cam_right_wrist_rgb +- cam_left_wrist_rgb +came_info: + cam_right_head_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264, + pix_fmt=yuv420p + cam_left_head_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: radian +end_translation_dim: meter +base_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +statistics: + total_episodes: 254 + total_frames: 943067 + fps: 30 + total_tasks: 1 + total_videos: 1016 + total_chunks: 1 + chunks_size: 10000 + state_dim: 38 + action_dim: 38 + camera_views: 4 + dataset_size: 66.94 GB +frame_num: 943067 +frame_range: 1M +dataset_size: 66.94 GB +data_structure: 'Galbot_G1_load_floor_trash_7_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (242 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_left_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_head_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:253 +features: + action: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + - base_pos_x_m + - base_pos_y_m + - base_orient_quat_z + - base_orient_quat_w + - base_vel_x_m_s + - base_vel_y_m_s + - base_vel_angular_z_rad_s + shape: + - 38 + observation.state: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + - base_pos_x_m + - base_pos_y_m + - base_orient_quat_z + - base_orient_quat_w + - base_vel_x_m_s + - base_vel_y_m_s + - base_vel_angular_z_rad_s + shape: + - 38 + observation.images.cam_right_head_rgb: + dtype: video + shape: + - 720 + - 960 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 720 + video.width: 960 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_head_rgb: + dtype: video + shape: + - 720 + - 960 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 720 + video.width: 960 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 960 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 720 + video.width: 960 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 960 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 720 + video.width: 960 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Galbot_G1_move_stamp.yaml b/dataset_info/Galbot_G1_move_stamp.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5235cbf4d6f663ed797892120de361d97f05fa --- /dev/null +++ b/dataset_info/Galbot_G1_move_stamp.yaml @@ -0,0 +1,514 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galbot_G1_move_stamp +dataset_uuid: 172ed6f3-29c6-4f6c-8c16-327a18208329 +scene_type: + level1: Office + level2: Office + level3: null + level4: null + level5: null +env_type: real_world +objects: +- id: seal + name: seal + color: transparent + anchor_policy: static +- id: ink_pad + name: ink pad + color: red + anchor_policy: static +- id: a4_paper + name: A4 paper + color: white + anchor_policy: static +- id: table + name: table + color: white + anchor_policy: static +task_operation_type: fixed_single_arm +task_instruction: Pick up the stamp from the ink pad and place it onto another ink + pad. +sub_tasks: +- Pick up the stamp from the ink pad and place it onto another ink pad. +atomic_actions: +- grasp +- place +robot_name: Galbot_G1 +end_effector_type: two_finger_end_effector +tele_type: master_arm +sensor_list: +- cam_right_head_rgb +- cam_left_head_rgb +- cam_right_wrist_rgb +- cam_left_wrist_rgb +came_info: + cam_right_head_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264, + pix_fmt=yuv420p + cam_left_head_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: radian +end_translation_dim: meter +base_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +statistics: + total_episodes: 50 + total_frames: 17073 + fps: 30 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 10000 + state_dim: 38 + action_dim: 38 + camera_views: 4 + dataset_size: 755.66 MB +frame_num: 17073 +frame_range: 100K +dataset_size: 755.66 MB +data_structure: 'Galbot_G1_move_stamp_0_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_left_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_head_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + action: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + - base_pos_x_m + - base_pos_y_m + - base_orient_quat_z + - base_orient_quat_w + - base_vel_x_m_s + - base_vel_y_m_s + - base_vel_angular_z_rad_s + shape: + - 38 + observation.state: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + - base_pos_x_m + - base_pos_y_m + - base_orient_quat_z + - base_orient_quat_w + - base_vel_x_m_s + - base_vel_y_m_s + - base_vel_angular_z_rad_s + shape: + - 38 + observation.images.cam_right_head_rgb: + dtype: video + shape: + - 720 + - 960 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 720 + video.width: 960 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_head_rgb: + dtype: video + shape: + - 720 + - 960 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 720 + video.width: 960 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 960 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 720 + video.width: 960 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 960 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 720 + video.width: 960 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Galbot_G1_move_takeout_bag.yaml b/dataset_info/Galbot_G1_move_takeout_bag.yaml new file mode 100644 index 0000000000000000000000000000000000000000..606c2379d80043d7b7e53d5f926bf178b7225c1a --- /dev/null +++ b/dataset_info/Galbot_G1_move_takeout_bag.yaml @@ -0,0 +1,510 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galbot_G1_move_takeout_bag +dataset_uuid: d447b01f-c67d-4df5-980f-a2e2f5778ed8 +scene_type: + level1: Household + level2: Living Room + level3: null + level4: null + level5: null +env_type: real_world +objects: +- id: takeout_bag + name: takeout bag + color: none + anchor_policy: static +- id: table + name: table + color: brown + anchor_policy: static +- id: floor_mat + name: floor mat + color: brown + anchor_policy: static +task_operation_type: fixed_single_arm +task_instruction: Pick up the food delivery bag from the floor and place it on the + table. +sub_tasks: +- Pick up the food delivery bag from the floor and place it on the table. +atomic_actions: +- grasp +- place +robot_name: Galbot_G1 +end_effector_type: two_finger_end_effector +tele_type: master_arm +sensor_list: +- cam_right_head_rgb +- cam_left_head_rgb +- cam_right_wrist_rgb +- cam_left_wrist_rgb +came_info: + cam_right_head_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264, + pix_fmt=yuv420p + cam_left_head_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: radian +end_translation_dim: meter +base_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +statistics: + total_episodes: 275 + total_frames: 291239 + fps: 30 + total_tasks: 1 + total_videos: 1100 + total_chunks: 1 + chunks_size: 10000 + state_dim: 38 + action_dim: 38 + camera_views: 4 + dataset_size: 24.16 GB +frame_num: 291239 +frame_range: 1M +dataset_size: 24.16 GB +data_structure: 'Galbot_G1_move_takeout_bag_0_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (263 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_left_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_head_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:274 +features: + action: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + - base_pos_x_m + - base_pos_y_m + - base_orient_quat_z + - base_orient_quat_w + - base_vel_x_m_s + - base_vel_y_m_s + - base_vel_angular_z_rad_s + shape: + - 38 + observation.state: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + - base_pos_x_m + - base_pos_y_m + - base_orient_quat_z + - base_orient_quat_w + - base_vel_x_m_s + - base_vel_y_m_s + - base_vel_angular_z_rad_s + shape: + - 38 + observation.images.cam_right_head_rgb: + dtype: video + shape: + - 720 + - 960 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 720 + video.width: 960 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_head_rgb: + dtype: video + shape: + - 720 + - 960 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 720 + video.width: 960 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 960 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 720 + video.width: 960 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 960 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 720 + video.width: 960 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Galbot_G1_organize_table.yaml b/dataset_info/Galbot_G1_organize_table.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c5819fbc628901f477186184a443f83a1da6ef92 --- /dev/null +++ b/dataset_info/Galbot_G1_organize_table.yaml @@ -0,0 +1,516 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galbot_G1_organize_table +dataset_uuid: 29afef4c-98d4-49d5-a3e2-231eef867c98 +scene_type: + level1: Household + level2: Study Room + level3: null + level4: null + level5: null +env_type: real_world +objects: +- id: laptop + name: laptop + color: white + anchor_policy: static +- id: water_bottle + name: water bottle + color: transparent + anchor_policy: static +- id: ballpoint_pen + name: ballpoint pen + color: blue + anchor_policy: static +- id: toy_car + name: toy car + color: green + anchor_policy: static +- id: trash_can + name: trash can + color: black + anchor_policy: static +- id: fountain_pen + name: fountain pen + color: black + anchor_policy: static +- id: prawn_cracker + name: prawn cracker + color: none + anchor_policy: static +- id: table + name: table + color: white + anchor_policy: static +task_operation_type: mobile_dual_arm +task_instruction: Organize the objects on the table. +sub_tasks: +- Organize the objects on the table. +atomic_actions: +- move +- grasp +- place +- close +robot_name: Galbot_G1 +end_effector_type: two_finger_end_effector +tele_type: master_arm +sensor_list: +- cam_right_head_rgb +- cam_left_head_rgb +- cam_right_wrist_rgb +- cam_left_wrist_rgb +came_info: + cam_right_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_left_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +statistics: + total_episodes: 200 + total_frames: 322419 + fps: 30 + total_tasks: 1 + total_videos: 800 + total_chunks: 1 + chunks_size: 10000 + state_dim: 31 + action_dim: 31 + camera_views: 4 + dataset_size: 12.31 GB +frame_num: 322419 +frame_range: 1M +dataset_size: 12.31 GB +data_structure: 'Galbot_G1_organize_table_0_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (188 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_left_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_head_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:199 +features: + action: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + shape: + - 31 + observation.state: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + shape: + - 31 + observation.images.cam_right_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Galbot_G1_pick_floor_trash.yaml b/dataset_info/Galbot_G1_pick_floor_trash.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cc66c3d51fa0981f33c980e10ee516b912f95a50 --- /dev/null +++ b/dataset_info/Galbot_G1_pick_floor_trash.yaml @@ -0,0 +1,509 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galbot_G1_pick_floor_trash +dataset_uuid: bbabfbb9-101b-41f7-a3a3-b109cadb5ad4 +scene_type: + level1: Household + level2: Living Room + level3: null + level4: null + level5: null +env_type: real_world +objects: +- id: trash_can + name: trash can + color: black + anchor_policy: static +- id: tissue_paper + name: tissue paper + color: white + anchor_policy: static +- id: canned_beverages + name: canned beverages + color: black + anchor_policy: static +- id: '1' + name: tissue paper + color: white + anchor_policy: static +- id: water_bottle + name: water bottle + color: transparent + anchor_policy: static +- id: floor_mat + name: floor mat + color: brown + anchor_policy: static +task_operation_type: mobile_dual_arm +task_instruction: Move to the front of the table and pick up the trash from the floor, + then place it into the trash bin. +sub_tasks: +- Move to the front of the table and pick up the trash from the floor, then place + it into the trash bin. +atomic_actions: +- move +- grasp +- place +robot_name: Galbot_G1 +end_effector_type: two_finger_end_effector +tele_type: master_arm +sensor_list: +- cam_right_head_rgb +- cam_left_head_rgb +- cam_right_wrist_rgb +- cam_left_wrist_rgb +came_info: + cam_right_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_left_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +statistics: + total_episodes: 188 + total_frames: 374177 + fps: 30 + total_tasks: 1 + total_videos: 752 + total_chunks: 1 + chunks_size: 10000 + state_dim: 31 + action_dim: 31 + camera_views: 4 + dataset_size: 22.77 GB +frame_num: 374177 +frame_range: 1M +dataset_size: 22.77 GB +data_structure: 'Galbot_G1_pick_floor_trash_0_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (176 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_left_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_head_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:187 +features: + action: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + shape: + - 31 + observation.state: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + shape: + - 31 + observation.images.cam_right_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Galbot_G1_pick_floor_trash_1.yaml b/dataset_info/Galbot_G1_pick_floor_trash_1.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fe4074474b27f6a33695350b16f89aa91bc4e23 --- /dev/null +++ b/dataset_info/Galbot_G1_pick_floor_trash_1.yaml @@ -0,0 +1,511 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galbot_G1_pick_floor_trash_1 +dataset_uuid: e8a704a9-2722-4532-bef3-5ede71570144 +scene_type: + level1: Household + level2: Living Room + level3: null + level4: null + level5: null +env_type: real_world +objects: +- id: trash can + name: trash can + color: none + anchor_policy: static +- id: plastic bag + name: plastic bag + color: white + anchor_policy: static +- id: aluminum can + name: aluminum can + color: none + anchor_policy: static +- id: toothpaste packaging + name: toothpaste packaging + color: green + anchor_policy: static +- id: '1' + name: aluminum can + color: aluminum can + anchor_policy: static +- id: plastic bottle + name: plastic bottle + color: brown + anchor_policy: static +- id: floor + name: floor + color: brown + anchor_policy: static +task_operation_type: mobile_dual_arm +task_instruction: Pick up the trash from the ground and place it into the trash bin. +sub_tasks: +- Pick up the trash from the ground and place it into the trash bin. +atomic_actions: +- move +- grasp +- place +robot_name: Galbot_G1 +end_effector_type: two_finger_end_effector +tele_type: master_arm +sensor_list: +- cam_right_head_rgb +- cam_left_head_rgb +- cam_right_wrist_rgb +- cam_left_wrist_rgb +came_info: + cam_right_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_left_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +statistics: + total_episodes: 20 + total_frames: 65226 + fps: 30 + total_tasks: 1 + total_videos: 80 + total_chunks: 1 + chunks_size: 10000 + state_dim: 31 + action_dim: 31 + camera_views: 4 + dataset_size: 3.31 GB +frame_num: 65226 +frame_range: 100K +dataset_size: 3.31 GB +data_structure: 'Galbot_G1_pick_floor_trash_1_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (8 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_left_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_head_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:19 +features: + action: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + shape: + - 31 + observation.state: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + shape: + - 31 + observation.images.cam_right_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Galbot_G1_pick_trash_can.yaml b/dataset_info/Galbot_G1_pick_trash_can.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0dcc05df0e85cae8e19bf0e4c8565bd611940f07 --- /dev/null +++ b/dataset_info/Galbot_G1_pick_trash_can.yaml @@ -0,0 +1,501 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galbot_G1_pick_trash_can +dataset_uuid: cf14d9b3-ff43-43da-8a00-1f38170e598b +scene_type: + level1: Household + level2: Bedroom + level3: null + level4: null + level5: null +env_type: real_world +objects: +- id: trash_can + name: trash can + color: none + anchor_policy: static +task_operation_type: mobile_single_arm +task_instruction: Pick up the trash can from the floor. +sub_tasks: +- Pick up the trash can from the floor. +atomic_actions: +- move +- grasp +robot_name: Galbot_G1 +end_effector_type: two_finger_end_effector +tele_type: master_arm +sensor_list: +- cam_right_head_rgb +- cam_left_head_rgb +- cam_right_wrist_rgb +- cam_left_wrist_rgb +came_info: + cam_right_head_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264, + pix_fmt=yuv420p + cam_left_head_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: radian +end_translation_dim: meter +base_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +statistics: + total_episodes: 239 + total_frames: 85163 + fps: 30 + total_tasks: 1 + total_videos: 956 + total_chunks: 1 + chunks_size: 10000 + state_dim: 38 + action_dim: 38 + camera_views: 4 + dataset_size: 2.75 GB +frame_num: 85163 +frame_range: 100K +dataset_size: 2.75 GB +data_structure: 'Galbot_G1_pick_trash_can_0_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (227 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_left_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_head_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:238 +features: + action: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + - base_pos_x_m + - base_pos_y_m + - base_orient_quat_z + - base_orient_quat_w + - base_vel_x_m_s + - base_vel_y_m_s + - base_vel_angular_z_rad_s + shape: + - 38 + observation.state: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + - base_pos_x_m + - base_pos_y_m + - base_orient_quat_z + - base_orient_quat_w + - base_vel_x_m_s + - base_vel_y_m_s + - base_vel_angular_z_rad_s + shape: + - 38 + observation.images.cam_right_head_rgb: + dtype: video + shape: + - 720 + - 960 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 720 + video.width: 960 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_head_rgb: + dtype: video + shape: + - 720 + - 960 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 720 + video.width: 960 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 960 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 720 + video.width: 960 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 960 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 720 + video.width: 960 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Galbot_G1_pull_curtain.yaml b/dataset_info/Galbot_G1_pull_curtain.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a9609378b79b67ee6aed3fced870c8b09e8b34c8 --- /dev/null +++ b/dataset_info/Galbot_G1_pull_curtain.yaml @@ -0,0 +1,489 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galbot_G1_pull_curtain +dataset_uuid: 40898e29-ad6c-4f0b-ac61-4946634128cd +scene_type: + level1: Household + level2: Bedroom + level3: null + level4: null + level5: null +env_type: real_world +objects: +- id: curtain + name: curtain + color: white + anchor_policy: static +task_operation_type: mobile_dual_arm +task_instruction: Open the curtains by pulling them apart, changing their state from + closed to fully open +sub_tasks: +- Open the curtains by pulling them apart, changing their state from closed to fully + open +atomic_actions: +- move +- grasp +- pull +robot_name: Galbot_G1 +end_effector_type: two_finger_end_effector +tele_type: master_arm +sensor_list: +- cam_right_head_rgb +- cam_left_head_rgb +- cam_right_wrist_rgb +- cam_left_wrist_rgb +came_info: + cam_right_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_left_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +statistics: + total_episodes: 197 + total_frames: 280380 + fps: 30 + total_tasks: 1 + total_videos: 788 + total_chunks: 1 + chunks_size: 10000 + state_dim: 31 + action_dim: 31 + camera_views: 4 + dataset_size: 13.85 GB +frame_num: 280380 +frame_range: 1M +dataset_size: 13.85 GB +data_structure: 'Galbot_G1_pull_curtain_0_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (185 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_left_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_head_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:196 +features: + action: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + shape: + - 31 + observation.state: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + shape: + - 31 + observation.images.cam_right_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Galbot_G1_scrub_toilet.yaml b/dataset_info/Galbot_G1_scrub_toilet.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e4992592ae47b01904f42ffdee403fbe0917503d --- /dev/null +++ b/dataset_info/Galbot_G1_scrub_toilet.yaml @@ -0,0 +1,495 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galbot_G1_scrub_toilet +dataset_uuid: 3e3f3ef9-42d6-4fda-9a29-e504752e79e0 +scene_type: + level1: Household + level2: Bathroom + level3: null + level4: null + level5: null +env_type: real_world +objects: +- id: toilet + name: toilet + color: white + anchor_policy: static +- id: toilet_brush_set + name: toilet brush set + color: red + anchor_policy: static +task_operation_type: mobile_dual_arm +task_instruction: Open the toilet lid, clean the toilet bowl with a toilet brush, + close the toilet lid, and flush. +sub_tasks: +- Open the toilet lid, clean the toilet bowl with a toilet brush, close the toilet + lid, and flush. +atomic_actions: +- grasp +- press +- wipe +- close +- open +robot_name: Galbot_G1 +end_effector_type: two_finger_end_effector +tele_type: master_arm +sensor_list: +- cam_right_head_rgb +- cam_left_head_rgb +- cam_right_wrist_rgb +- cam_left_wrist_rgb +came_info: + cam_right_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_left_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +statistics: + total_episodes: 187 + total_frames: 537043 + fps: 30 + total_tasks: 1 + total_videos: 748 + total_chunks: 1 + chunks_size: 10000 + state_dim: 31 + action_dim: 31 + camera_views: 4 + dataset_size: 17.60 GB +frame_num: 537043 +frame_range: 1M +dataset_size: 17.60 GB +data_structure: 'Galbot_G1_scrub_toilet_0_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (175 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_left_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_head_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:186 +features: + action: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + shape: + - 31 + observation.state: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + shape: + - 31 + observation.images.cam_right_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Galbot_G1_store_takeout_box.yaml b/dataset_info/Galbot_G1_store_takeout_box.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7c378158ee81a306898451b02a8e89618cb09b94 --- /dev/null +++ b/dataset_info/Galbot_G1_store_takeout_box.yaml @@ -0,0 +1,515 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galbot_G1_store_takeout_box +dataset_uuid: 5bb683d8-05d4-41e6-a940-ae4b0e94711e +scene_type: + level1: Household + level2: Kitchen + level3: null + level4: null + level5: null +env_type: real_world +objects: +- id: takeout_bag + name: takeout bag + color: none + anchor_policy: static +- id: disposable_takeout_box + name: disposable takeout box + color: transparent + anchor_policy: static +- id: table + name: table + color: brown + anchor_policy: static +- id: '1' + name: disposable takeout box + color: white + anchor_policy: static +task_operation_type: fixed_dual_arm +task_instruction: Close the disposable takeout box, then place it into the delivery + bag. +sub_tasks: +- Close the disposable takeout box, then place it into the delivery bag. +atomic_actions: +- grasp +- place +- close +robot_name: Galbot_G1 +end_effector_type: two_finger_end_effector +tele_type: master_arm +sensor_list: +- cam_right_head_rgb +- cam_left_head_rgb +- cam_right_wrist_rgb +- cam_left_wrist_rgb +came_info: + cam_right_head_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264, + pix_fmt=yuv420p + cam_left_head_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: radian +end_translation_dim: meter +base_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +statistics: + total_episodes: 285 + total_frames: 395175 + fps: 30 + total_tasks: 1 + total_videos: 1140 + total_chunks: 1 + chunks_size: 10000 + state_dim: 38 + action_dim: 38 + camera_views: 4 + dataset_size: 32.83 GB +frame_num: 395175 +frame_range: 1M +dataset_size: 32.83 GB +data_structure: 'Galbot_G1_store_takeout_box_0_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (273 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_left_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_head_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:284 +features: + action: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + - base_pos_x_m + - base_pos_y_m + - base_orient_quat_z + - base_orient_quat_w + - base_vel_x_m_s + - base_vel_y_m_s + - base_vel_angular_z_rad_s + shape: + - 38 + observation.state: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + - base_pos_x_m + - base_pos_y_m + - base_orient_quat_z + - base_orient_quat_w + - base_vel_x_m_s + - base_vel_y_m_s + - base_vel_angular_z_rad_s + shape: + - 38 + observation.images.cam_right_head_rgb: + dtype: video + shape: + - 720 + - 960 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 720 + video.width: 960 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_head_rgb: + dtype: video + shape: + - 720 + - 960 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 720 + video.width: 960 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 960 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 720 + video.width: 960 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 960 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 720 + video.width: 960 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Galbot_G1_store_takeout_box_1.yaml b/dataset_info/Galbot_G1_store_takeout_box_1.yaml new file mode 100644 index 0000000000000000000000000000000000000000..295ec82594f044272a81d7fab0491c0c13b2fa9c --- /dev/null +++ b/dataset_info/Galbot_G1_store_takeout_box_1.yaml @@ -0,0 +1,515 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galbot_G1_store_takeout_box_1 +dataset_uuid: 8e2074b4-12bd-41c8-a4f9-25c4dc99ff04 +scene_type: + level1: Household + level2: Living Room + level3: null + level4: null + level5: null +env_type: real_world +objects: +- id: takeout_bag + name: takeout bag + color: none + anchor_policy: static +- id: disposable_takeout_box + name: disposable takeout box + color: transparent + anchor_policy: static +- id: table + name: table + color: brown + anchor_policy: static +- id: shrimp + name: shrimp + color: red + anchor_policy: static +task_operation_type: fixed_dual_arm +task_instruction: Close the takeout container lid, then place the container into the + takeout bag. +sub_tasks: +- Close the takeout container lid, then place the container into the takeout bag. +atomic_actions: +- grasp +- place +- close +robot_name: Galbot_G1 +end_effector_type: two_finger_end_effector +tele_type: master_arm +sensor_list: +- cam_right_head_rgb +- cam_left_head_rgb +- cam_right_wrist_rgb +- cam_left_wrist_rgb +came_info: + cam_right_head_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264, + pix_fmt=yuv420p + cam_left_head_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x960x3, resolution=960x720, codec=libx264, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: radian +end_translation_dim: meter +base_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +statistics: + total_episodes: 217 + total_frames: 176487 + fps: 30 + total_tasks: 1 + total_videos: 868 + total_chunks: 1 + chunks_size: 10000 + state_dim: 38 + action_dim: 38 + camera_views: 4 + dataset_size: 14.62 GB +frame_num: 176487 +frame_range: 1M +dataset_size: 14.62 GB +data_structure: 'Galbot_G1_store_takeout_box_1_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (205 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_left_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_head_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:216 +features: + action: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + - base_pos_x_m + - base_pos_y_m + - base_orient_quat_z + - base_orient_quat_w + - base_vel_x_m_s + - base_vel_y_m_s + - base_vel_angular_z_rad_s + shape: + - 38 + observation.state: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + - base_pos_x_m + - base_pos_y_m + - base_orient_quat_z + - base_orient_quat_w + - base_vel_x_m_s + - base_vel_y_m_s + - base_vel_angular_z_rad_s + shape: + - 38 + observation.images.cam_right_head_rgb: + dtype: video + shape: + - 720 + - 960 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 720 + video.width: 960 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_head_rgb: + dtype: video + shape: + - 720 + - 960 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 720 + video.width: 960 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 960 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 720 + video.width: 960 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 960 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 720 + video.width: 960 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Galbot_G1_wipe_mirror.yaml b/dataset_info/Galbot_G1_wipe_mirror.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a15e7cb9b254e99242ea36ba76f59e58b3784e32 --- /dev/null +++ b/dataset_info/Galbot_G1_wipe_mirror.yaml @@ -0,0 +1,495 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galbot_G1_wipe_mirror +dataset_uuid: 6cedd02a-b3cf-4e0a-8364-bdba9577a263 +scene_type: + level1: Household + level2: Bathroom + level3: null + level4: null + level5: null +env_type: real_world +objects: +- id: towel + name: towel + color: white + anchor_policy: static +- id: washbasin + name: washbasin + color: brown + anchor_policy: static +- id: mirror + name: mirror + color: none + anchor_policy: static +task_operation_type: mobile_single_arm +task_instruction: Pick up the towel from the sink counter and wipe the mirror surface. +sub_tasks: +- Pick up the towel from the sink counter and wipe the mirror surface. +atomic_actions: +- move +- grasp +- wipe +robot_name: Galbot_G1 +end_effector_type: two_finger_end_effector +tele_type: master_arm +sensor_list: +- cam_right_head_rgb +- cam_left_head_rgb +- cam_right_wrist_rgb +- cam_left_wrist_rgb +came_info: + cam_right_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_left_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +statistics: + total_episodes: 30 + total_frames: 41399 + fps: 30 + total_tasks: 1 + total_videos: 120 + total_chunks: 1 + chunks_size: 10000 + state_dim: 31 + action_dim: 31 + camera_views: 4 + dataset_size: 2.20 GB +frame_num: 41399 +frame_range: 100K +dataset_size: 2.20 GB +data_structure: 'Galbot_G1_wipe_mirror_0_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (18 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_left_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_head_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:29 +features: + action: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + shape: + - 31 + observation.state: + dtype: float32 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - torso_joint_4_rad + - torso_joint_5_rad + - head_joint_1_rad + - head_joint_2_rad + - chassis_pos_1 + - chassis_pos_2 + - chassis_pos_3 + - chassis_pos_4 + - chassis_vel_1 + - chassis_vel_2 + - chassis_vel_3 + - chassis_vel_4 + shape: + - 31 + observation.images.cam_right_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: libx264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float64 + shape: + - 2 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4 diff --git a/info/consolidated_datasets.json b/info/consolidated_datasets.json index 193c32b1b7ea661a21f1278eceb10f583283352f..7aa6fd138916c68a0457dd7c795784bf24645efa 100644 --- a/info/consolidated_datasets.json +++ b/info/consolidated_datasets.json @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e51fec3048f4164407822e235d0d095a06f4c1c1914be225076ed496dcfb5c61 -size 12779163 +oid sha256:4bbd55a514506663b2139f4a364ca8eae7eea202ca0b2de061ac862871b589b3 +size 13354267 diff --git a/info/data_index.json b/info/data_index.json index ff5974a31192a880f885712d23fce5aa29a0cc5c..f004bf10b0328799c6f0347170bd9f6474fd5b3f 100644 --- a/info/data_index.json +++ b/info/data_index.json @@ -545,11 +545,44 @@ "Galaxea_R1_Lite_wash_the_tableware", "Galaxea_R1_Lite_washing_board", "Galaxea_R1_Lite_wipe_the_table", + "Galbot_G1_bag_table_trash_1", + "Galbot_G1_bag_table_trash_2", + "Galbot_G1_clear_sink_1", + "Galbot_G1_clear_sink_trash_1", + "Galbot_G1_clear_table_trash_1", + "Galbot_G1_clear_table_trash_2", + "Galbot_G1_clear_table_trash_3", + "Galbot_G1_discard_towel_1", "Galbot_G1_fold_clothe_b", "Galbot_G1_fold_clothe_c", "Galbot_G1_fold_clothe_e", "Galbot_G1_fold_clothes", "Galbot_G1_fold_clothes_1", + "Galbot_G1_fold_clothes_3", + "Galbot_G1_fold_clothes_4", + "Galbot_G1_hang_clothes", + "Galbot_G1_hang_clothes_1", + "Galbot_G1_hang_clothes_2", + "Galbot_G1_hang_clothes_3", + "Galbot_G1_line_trash_can", + "Galbot_G1_line_trash_can_1", + "Galbot_G1_line_trash_can_2", + "Galbot_G1_line_trash_can_3", + "Galbot_G1_line_trash_can_4", + "Galbot_G1_load_floor_trash", + "Galbot_G1_load_floor_trash_1", + "Galbot_G1_load_floor_trash_2", + "Galbot_G1_load_floor_trash_4", + "Galbot_G1_load_floor_trash_6", + "Galbot_G1_load_floor_trash_7", + "Galbot_G1_move_stamp", + "Galbot_G1_move_takeout_bag", + "Galbot_G1_organize_table", + "Galbot_G1_pick_floor_trash", + "Galbot_G1_pick_floor_trash_1", + "Galbot_G1_pick_trash_can", + "Galbot_G1_pull_curtain", + "Galbot_G1_scrub_toilet", "Galbot_G1_steamer_storage_baozi", "Galbot_G1_steamer_storage_baozi_a", "Galbot_G1_steamer_storage_baozi_b", @@ -561,8 +594,11 @@ "Galbot_G1_steamer_storage_baozi_h", "Galbot_G1_steamer_storage_baozi_i", "Galbot_G1_steamer_storage_baozi_j", + "Galbot_G1_store_takeout_box", + "Galbot_G1_store_takeout_box_1", "Galbot_G1_use_dryer", "Galbot_G1_use_dryer_1", + "Galbot_G1_wipe_mirror", "Leju_Kuavo_4_box_storage_parcel", "Leju_Kuavo_4_box_storage_parcel_1", "Leju_Kuavo_4_box_storage_parcel_10", @@ -770,5 +806,5 @@ "Unitree_G1edu-u3_stack_bowls", "Unitree_G1edu-u3_tray_storage_lemon_a" ], - "count": 769 + "count": 805 } \ No newline at end of file diff --git a/info/download_stats.json b/info/download_stats.json index f6c5164d39a5a6814480faa93359c8b25580b600..ca6fab6d4c0a93032d1d3afe66e6e78403a384f4 100644 --- a/info/download_stats.json +++ b/info/download_stats.json @@ -1,25 +1,25 @@ { - "last_updated": "2026-08-09T16:01:55.950328", + "last_updated": "2026-08-10T10:09:02.468611", "huggingface": { "org_name": "RoboCOIN", - "total_downloads": 3292027, + "total_downloads": 3295167, "total_likes": 0, - "dataset_count": 802, + "dataset_count": 808, "datasets": 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"downloads": 17242, "likes": 0 }, "Cobot_Magic_desktop_organization": { @@ -71,55 +71,55 @@ "likes": 0 }, "Tianqin_A2_box_storage_part": { - "downloads": 16715, + "downloads": 16719, "likes": 0 }, "Agilex_Cobot_Magic_heat_burger": { - "downloads": 16206, + "downloads": 16236, "likes": 0 }, "Agilex_Cobot_Magic_fold_clothes": { - "downloads": 15768, + "downloads": 15774, "likes": 0 }, "RMC-AIDA-L_pull_open_bag": { - "downloads": 15705, + "downloads": 15709, "likes": 0 }, "Agilex_Cobot_Magic_place_towel_flat": { - "downloads": 15535, + "downloads": 15547, "likes": 0 }, "Agilex_Cobot_Magic_stack_baskets": { - "downloads": 15316, + "downloads": 15324, "likes": 0 }, "AgiBot-g1_box_storage_cardboard_box_b": { "downloads": 15048, "likes": 0 }, - "Galbot_g1_steamer_storage_baozi_d": { - "downloads": 14968, + "AgiBot-g1_picks_up_cardboard_box": { + "downloads": 15025, "likes": 0 }, - "AgiBot-g1_picks_up_cardboard_box": { - "downloads": 14935, + "Galbot_g1_steamer_storage_baozi_d": { + 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