RogersPyke/ReadmeTest1

Agibot_g1_Pick_apple

Overview- Total Episodes: 100

• Total Frames: 50000

• FPS: 30

• Dataset Size: 2.7GB

• Robot Name: Agibot+G1edu-u3

• End-Effector Name: Agibot+two_finger_gripper, Agibot+three_finger_gripper

• Scene: home-kitchen

• Objects: table-furniture-table, basket-container-basket

• Task Description: Left_arm+pick+apple### 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
• Task Result: success
• Environment Type: simulation

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 and 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

• Frame Range Label: 10K-100K
• Data Schema: LeRobot-compatible format with parquet data files and MP4 video files

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

Data Structure (Tree)

dataset/
├── data/
│   ├── chunk-000/
│   │   ├── episode_000000.parquet
│   │   └── episode_000001.parquet
│   └── chunk-001/
│       ├── episode_000010.parquet
│       └── episode_000011.parquet
├── videos/
│   ├── chunk-000/
│   │   ├── camera_1/
│   │   │   ├── episode_000000.mp4
│   │   │   └── episode_000001.mp4
│   │   └── camera_2/
│   │       ├── episode_000000.mp4
│   │       └── episode_000001.mp4
│   └── chunk-001/
│       └── ...
├── meta/
│   └── info.json
└── README.md

Camera Views

This dataset includes 3 camera views.

Features (Full YAML)

observation.images.camera_1:
  dtype: video
  shape:
  - 720
  - 1280
  - 3
  names:
  - height
  - width
  - channels
  info:
    video.fps: 30
    video.codec: h264
observation.state:
  dtype: float32
  shape:
  - 14
  names:
  - joint_1
  - joint_2
  - '...'
action:
  dtype: float32
  shape:
  - 7
  names:
  - action_1
  - action_2
  - '...'
timestamp:
  dtype: float64
frame_index:
  dtype: int64
episode_index:
  dtype: int64
subtask_annotation:
  dtype: string
scene_annotation:
  dtype: string
eef_sim_pose_state:
  dtype: float32
  shape:
  - 7
  names:
  - x
  - y
  - z
  - qx
  - qy
  - qz
  - qw

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:

• subtask_annotation
• scene_annotation
• eef_direction
• eef_velocity
• eef_acc_mag
• gripper_mode
• gripper_activity

Dataset Tags

• RoboCOIN
• LeRobot

Authors

Contributors

This dataset is contributed by:-RoboCOIN - RoboCOIN Team

Annotators

This dataset is annotated 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

Dataset Description

This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.