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--- |
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task_categories: |
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- robotics |
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language: |
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- en |
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- zh |
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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.' |
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extra_gated_fields: |
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Country: |
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type: 'country' |
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description: 'e.g., ''Germany'', ''China'', ''United States''' |
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Company/Organization: |
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type: 'text' |
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description: 'e.g., ''ETH Zurich'', ''Boston Dynamics'', ''Independent Researcher''' |
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tags: |
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- RoboCOIN |
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- LeRobot |
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- Test |
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frame_range: 10K-100K |
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license: apache-2.0 |
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configs: |
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- config_name: default |
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data_files: data/*/*.parquet |
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--- |
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# Agibot_g1_Pick_apple |
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**UUID:** `550e8400-e29b-41d4-a716-446655440000` |
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[Watch Video](./assets/videos/Agibot-g1_Pick_apple.mp4) |
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### Overview |
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| Metric | Value | |
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|--------|-------| |
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| **Total Frames** | 50000 | |
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| **Frame Rate (FPS)** | 30 | |
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| **Total Episodes** | 100 | |
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| **Total Tasks** | 100 | |
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### Primary Task Instruction |
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> pick up the apple from the table and place it into the basket. |
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### Robot Configuration |
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- **Robot Name:** `Agibot+G1edu-u3` |
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- **Robot Type:** `G1edu-u3` |
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- **Codebase Version:** `v2.1` |
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- **End-Effector Name:** `['Agibot+two_finger_gripper', 'Agibot+three_finger_gripper']` |
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- **End-Effector Type:** `two_finger_gripper, three_finger_gripper` |
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- **Teleoperation Type:** `cable, wireless` |
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## 🏠 Scene and Objects |
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### Scene Type |
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`home-kitchen` |
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### Objects |
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- `table-furniture-table` |
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- `basket-container-basket` |
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## 🎯 Task Descriptions |
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- **Standardized Task Name:** `Agibot_g1_Pick_apple` |
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- **Standardized Task Description:** `Left_arm+pick+apple` |
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- **Operation Type:** `simgle_arm` |
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### Sub-Tasks |
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This dataset includes 3 distinct subtasks: |
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1. **Grasp the apple with the left gripper** |
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2. **Place the apple into the basket with the left gripper** |
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3. **End** |
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### Atomic Actions |
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- `pick` |
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- `place` |
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- `grasp` |
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## 🛠️ Hardware & Sensors |
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### Sensors |
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- `Depth_camera` |
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- `RGB_camera` |
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- `IMU` |
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- `Force_sensor` |
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### Camera Information |
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['Camera 1: RGB, 1280x720, 30fps', 'Camera 2: RGB, 1280x720, 30fps', 'Camera 3: Depth, 640x480, 30fps'] |
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### Coordinate System |
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- **Definition:** `right_hand_frame` |
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- **Origin (XYZ):** `[0, 0, 0]` |
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### Dimensions & Units |
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- **Joint Rotation:** `radian` |
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- **End-Effector Rotation:** `radian` |
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- **End-Effector Translation:** `meter` |
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- **Base Rotation:** `radian` |
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- **Base Translation:** `meter` |
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- **Operation Platform Height:** `77.2 cm` |
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## 📊 Dataset Statistics |
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| Metric | Value | |
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|--------|-------| |
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| **Total Episodes** | 100 | |
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| **Total Frames** | 50000 | |
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| **Total Tasks** | 100 | |
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| **Total Videos** | 100 | |
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| **Total Chunks** | 10 | |
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| **Chunk Size** | 10 | |
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| **FPS** | 30 | |
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| **Total Duration** | 27:46:40 | |
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| **Video Resolution** | 1280x720 | |
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| **State Dimensions** | 14 | |
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| **Action Dimensions** | 7 | |
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| **Camera Views** | 3 | |
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| **Dataset Size** | 2.7GB | |
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## 📂 Data Splits |
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The dataset is organized into the following splits: |
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- **Training**: Episodes 0:89 |
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- **Validation**: Episodes 89:99 |
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- **Test**: Episodes 99:109 |
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## 📁 Dataset Structure |
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This dataset follows the LeRobot format and contains the following components: |
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### Data Files |
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- **Videos**: Compressed video files containing RGB camera observations |
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- **State Data**: Robot joint positions, velocities, and other state information |
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- **Action Data**: Robot action commands and trajectories |
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- **Metadata**: Episode metadata, timestamps, and annotations |
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### File Organization |
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- **Data Path Pattern**: `data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet` |
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- **Video Path Pattern**: `videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4` |
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- **Chunking**: Data is organized into 10 chunk(s) |
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of size 10 |
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## 🎥 Camera Views |
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This dataset includes 3 camera views. |
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### Features Schema |
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The dataset includes the following features: |
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#### Visual Observations |
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- **observation.images.camera_1**: video |
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- FPS: 30 |
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- Codec: h264 |
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#### State and Action |
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- **observation.state**: float32 |
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- **action**: float32 |
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#### Temporal Information |
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- **timestamp**: float64 |
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- **frame_index**: int64 |
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- **episode_index**: int64 |
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#### Annotations |
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- **subtask_annotation**: string |
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- **scene_annotation**: string |
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#### Motion Features |
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- **eef_sim_pose_state**: float32 |
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- Dimensions: x, y, z, qx, qy, qz, qw |
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#### Gripper Features |
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### Meta Information |
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The complete dataset metadata is available in [meta/info.json](meta/info.json): |
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```json |
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{ |
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"info": "Complete metadata available in meta/info.json" |
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} |
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``` |
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### Directory Structure |
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The dataset is organized as follows (showing leaf directories with first 5 files only): |
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``` |
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dataset/ |
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├── data/ |
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│ └── chunk-*/episode_*.parquet |
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├── videos/ |
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│ └── chunk-*/camera_*/episode_*.mp4 |
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├── meta/ |
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│ └── info.json |
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└── README.md |
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``` |
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## 🏷️ Available Annotations |
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This dataset includes rich annotations to support diverse learning approaches: |
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### Additional Features |
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- **End-Effector Simulation Pose**: 6D pose information for end-effectors in simulation space |
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- Available for both state and action |
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- **Gripper Opening Scale**: Continuous gripper opening measurements |
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- Available for both state and action |
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## 🏷️ Dataset Tags |
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- `RoboCOIN` |
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- `LeRobot` |
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## 👥 Authors |
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### Contributors |
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This dataset is contributed by: |
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- RoboCOIN |
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- [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/) |
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- RoboCOIN Team |
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## 🔗 Links |
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- **🏠 Homepage:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/) |
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- **📄 Paper:** [https://arxiv.org/abs/2511.17441](https://arxiv.org/abs/2511.17441) |
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- **💻 Repository:** [https://github.com/FlagOpen/RoboCOIN](https://github.com/FlagOpen/RoboCOIN) |
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- **📜 License:** apache-2.0 |
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## 📞 Contact and Support |
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For questions, issues, or feedback regarding this dataset, please contact: |
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- **Email:** robocoin@baai.ac.cn |
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For questions, issues, or feedback regarding this dataset, please contact us. |
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### Support |
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For technical support, please open an issue on our GitHub repository. |
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## 📄 License |
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This dataset is released under the **apache-2.0** license. |
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Please refer to the LICENSE file for full license terms and conditions. |
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## 📚 Citation |
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If you use this dataset in your research, please cite: |
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```bibtex |
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@article{robocoin, |
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title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation}, |
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author={...}, |
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journal={arXiv preprint arXiv:2511.17441}, |
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url={https://arxiv.org/abs/2511.17441}, |
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year={2025} |
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} |
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``` |
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### Additional References |
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If you use this dataset, please also consider citing: |
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- LeRobot Framework: https://github.com/huggingface/lerobot |
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## 📌 Version Information |
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## Version History |
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- v1.0.0 (2025-11): Initial release |
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