Datasets:

RogersOrg
/

readmeTestOne

task_categories:
  - robotics
language:
  - en
  - zh
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:
  Country:
    type: country
    description: e.g., 'Germany', 'China', 'United States'
  Company/Organization:
    type: text
    description: e.g., 'ETH Zurich', 'Boston Dynamics', 'Independent Researcher'
tags:
  - RoboCOIN
  - LeRobot
frame_range: 10K-100K
license: apache-2.0
configs:
  - config_name: default
    data_files: data/*/*.parquet

Agibot_g1_Pick_apple

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

Watch Video

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:

Grasp the apple with the left gripper
Place the apple into the basket with the left gripper
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