RogersOrg/readmeTestOne

Agibot_g1_Pick_apple

UUID: 550e8400-e29b-41d4-a716-446655440000

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Overview

Metric	Value
Total Frames	50000
Frame Rate (FPS)	30
Total Episodes	100
Total Tasks	100

Primary Task Instruction

pick up the apple from the table and place it into the basket.

Robot Configuration

• Robot Name: Agibot+G1edu-u3
• Robot Type: G1edu-u3
• Codebase Version: v2.1
• End-Effector Name: ['Agibot+two_finger_gripper', 'Agibot+three_finger_gripper']
• End-Effector Type: two_finger_gripper, three_finger_gripper
• Teleoperation Type: cable, wireless

🏠 Scene and Objects

Scene Type

home-kitchen

Objects

• table-furniture-table
• basket-container-basket

🎯 Task Descriptions

• Standardized Task Name: Agibot_g1_Pick_apple
• Standardized Task Description: Left_arm+pick+apple
• Operation Type: simgle_arm

Sub-Tasks

This dataset includes 3 distinct subtasks:

1. Grasp the apple with the left gripper
2. Place the apple into the basket with the left gripper
3. End

Atomic Actions

• pick
• place
• grasp

🛠️ Hardware & Sensors

Sensors

• Depth_camera
• RGB_camera
• IMU
• Force_sensor

Camera Information

['Camera 1: RGB, 1280x720, 30fps', 'Camera 2: RGB, 1280x720, 30fps', 'Camera 3: Depth, 640x480, 30fps']

Coordinate System

• Definition: right_hand_frame
• Origin (XYZ): [0, 0, 0]

Dimensions & Units

• Joint Rotation: radian
• End-Effector Rotation: radian
• End-Effector Translation: meter
• Base Rotation: radian
• Base Translation: meter
• Operation Platform Height: 77.2 cm

📊 Dataset Statistics

Metric	Value
Total Episodes	100
Total Frames	50000
Total Tasks	100
Total Videos	100
Total Chunks	10
Chunk Size	10
FPS	30
Total Duration	27:46:40
Video Resolution	1280x720
State Dimensions	14
Action Dimensions	7
Camera Views	3
Dataset Size	2.7GB

📂 Data Splits

The dataset is organized into the following splits:

• Training: Episodes 0:89
• Validation: Episodes 89:99
• Test: Episodes 99:109

📁 Dataset Structure

This dataset follows the LeRobot format and contains the following components:

Data Files

• Videos: Compressed video files containing RGB camera observations
• State Data: Robot joint positions, velocities, and other state information
• Action Data: Robot action commands and trajectories
• Metadata: Episode metadata, timestamps, and annotations

File Organization

• Data Path Pattern: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet
• Video Path Pattern: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4
• Chunking: Data is organized into 10 chunk(s) of size 10

🎥 Camera Views

This dataset includes 3 camera views.

Features Schema

The dataset includes the following features:

Visual Observations

• observation.images.camera_1: video
  • FPS: 30
  • Codec: h264

State and Action

• observation.state: float32

• action: float32

Temporal Information

• timestamp: float64

• frame_index: int64

• episode_index: int64

Annotations

• subtask_annotation: string

• scene_annotation: string

Motion Features

• eef_sim_pose_state: float32
  • Dimensions: x, y, z, qx, qy, qz, qw

Gripper Features

Meta Information

The complete dataset metadata is available in meta/info.json:

{
  "info": "Complete metadata available in meta/info.json"
}

Directory Structure

The dataset is organized as follows (showing leaf directories with first 5 files only):

dataset/
├── data/
│   └── chunk-*/episode_*.parquet
├── videos/
│   └── chunk-*/camera_*/episode_*.mp4
├── meta/
│   └── info.json
└── README.md

🏷️ Available Annotations

This dataset includes rich annotations to support diverse learning approaches:

Additional Features

• End-Effector Simulation Pose: 6D pose information for end-effectors in simulation space
  • Available for both state and action
• Gripper Opening Scale: Continuous gripper opening measurements
  • Available for both state and action

🏷️ Dataset Tags

• RoboCOIN
• LeRobot

👥 Authors

Contributors

This dataset is contributed by:

• RoboCOIN
• https://flagopen.github.io/RoboCOIN/
• RoboCOIN Team

🔗 Links

• 🏠 Homepage: https://flagopen.github.io/RoboCOIN/
• 📄 Paper: https://arxiv.org/abs/2511.17441
• 💻 Repository: https://github.com/FlagOpen/RoboCOIN
• 📜 License: apache-2.0

📞 Contact and Support

For questions, issues, or feedback regarding this dataset, please contact:

• Email: robocoin@baai.ac.cn For questions, issues, or feedback regarding this dataset, please contact us.

Support

For technical support, please open an issue on our GitHub repository.

📄 License

This dataset is released under the apache-2.0 license.

Please refer to the LICENSE file for full license terms and conditions.

📚 Citation

If you use this dataset in your research, please cite:

@article{robocoin,
  title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},
  author={...},
  journal={arXiv preprint arXiv:2511.17441},
  url={https://arxiv.org/abs/2511.17441},
  year={2025}
}

Additional References

If you use this dataset, please also consider citing:

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

📌 Version Information

Version History

• v1.0.0 (2025-11): Initial release