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+---
+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`
+
+![Dataset Preview](./assets/thumbnails/Agibot-g1_Pick_apple.jpg)
+[Watch Video](./assets/videos/Agibot-g1_Pick_apple.mp4)
+
+### 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](meta/info.json):
+
+```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/](https://flagopen.github.io/RoboCOIN/)
+- RoboCOIN Team
+
+
+## 🔗 Links
+
+- **🏠 Homepage:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/)
+- **📄 Paper:** [https://arxiv.org/abs/2511.17441](https://arxiv.org/abs/2511.17441)
+- **💻 Repository:** [https://github.com/FlagOpen/RoboCOIN](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:
+
+```bibtex
+@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