Copy AgiBot-g1_robotic_arm_picks_up_battery into RoboCOIN_useable

AgiBot-g1_robotic_arm_picks_up_battery/.gitattributes

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+*.7z filter=lfs diff=lfs merge=lfs -text
+*.arrow filter=lfs diff=lfs merge=lfs -text
+*.bin filter=lfs diff=lfs merge=lfs -text
+*.bz2 filter=lfs diff=lfs merge=lfs -text
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+*.ftz filter=lfs diff=lfs merge=lfs -text
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+*.lfs.* filter=lfs diff=lfs merge=lfs -text
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+*.mds filter=lfs diff=lfs merge=lfs -text
+*.mlmodel filter=lfs diff=lfs merge=lfs -text
+*.model filter=lfs diff=lfs merge=lfs -text
+*.msgpack filter=lfs diff=lfs merge=lfs -text
+*.npy filter=lfs diff=lfs merge=lfs -text
+*.npz filter=lfs diff=lfs merge=lfs -text
+*.onnx filter=lfs diff=lfs merge=lfs -text
+*.ot filter=lfs diff=lfs merge=lfs -text
+*.parquet filter=lfs diff=lfs merge=lfs -text
+*.pb filter=lfs diff=lfs merge=lfs -text
+*.pickle filter=lfs diff=lfs merge=lfs -text
+*.pkl filter=lfs diff=lfs merge=lfs -text
+*.pt filter=lfs diff=lfs merge=lfs -text
+*.pth filter=lfs diff=lfs merge=lfs -text
+*.rar filter=lfs diff=lfs merge=lfs -text
+*.safetensors filter=lfs diff=lfs merge=lfs -text
+saved_model/**/* filter=lfs diff=lfs merge=lfs -text
+*.tar.* filter=lfs diff=lfs merge=lfs -text
+*.tar filter=lfs diff=lfs merge=lfs -text
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+*.xz filter=lfs diff=lfs merge=lfs -text
+*.zip filter=lfs diff=lfs merge=lfs -text
+*.zst filter=lfs diff=lfs merge=lfs -text
+*tfevents* filter=lfs diff=lfs merge=lfs -text
+# Audio files - uncompressed
+*.pcm filter=lfs diff=lfs merge=lfs -text
+*.sam filter=lfs diff=lfs merge=lfs -text
+*.raw filter=lfs diff=lfs merge=lfs -text
+# Audio files - compressed
+*.aac filter=lfs diff=lfs merge=lfs -text
+*.flac filter=lfs diff=lfs merge=lfs -text
+*.mp3 filter=lfs diff=lfs merge=lfs -text
+*.ogg filter=lfs diff=lfs merge=lfs -text
+*.wav filter=lfs diff=lfs merge=lfs -text
+# Image files - uncompressed
+*.bmp filter=lfs diff=lfs merge=lfs -text
+*.gif filter=lfs diff=lfs merge=lfs -text
+*.png filter=lfs diff=lfs merge=lfs -text
+*.tiff filter=lfs diff=lfs merge=lfs -text
+# Image files - compressed
+*.jpg filter=lfs diff=lfs merge=lfs -text
+*.jpeg filter=lfs diff=lfs merge=lfs -text
+*.webp filter=lfs diff=lfs merge=lfs -text
+# Video files - compressed
+*.mp4 filter=lfs diff=lfs merge=lfs -text
+*.webm filter=lfs diff=lfs merge=lfs -text

AgiBot-g1_robotic_arm_picks_up_battery/README.md

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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:
+
+  Company/Organization:
+    type: 'text'
+    description: 'e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"'
+
+  Country:
+    type: 'country'
+    description: 'e.g., "Germany", "China", "United States"'
+
+
+
+tags:
+  - RoboCOIN
+  - LeRobot
+
+frame_range: 10K-100K
+
+license: apache-2.0
+
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
+---
+
+# AgiBot-g1_robotic_arm_picks_up_battery
+
+## 📋 Overview
+
+This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
+
+**Robot Type:** `ruantong_a2d`
+ | **Codebase Version:** `v2.1`
+**End-Effector Type:** `two_finger_gripper`
+
+## 🏠 Scene Types
+
+This dataset covers the following scene types:
+- `factory`
+
+
+## 🤖 Atomic Actions
+
+This dataset includes the following atomic actions:
+- `place`
+- `pick`
+- `grasp`
+
+
+## 📊 Dataset Statistics
+
+| Metric | Value |
+|--------|-------|
+| **Total Episodes** | 56 |
+| **Total Frames** | 30215 |
+| **Total Tasks** | 1 |
+| **Total Videos** | 448 |
+| **Total Chunks** | 1 |
+| **Chunk Size** | 1000 |
+| **FPS** | 30 |
+| **Dataset Size** | 17.9GB |
+
+
+## 👥 Authors
+
+### Contributors
+This dataset is contributed by:
+- [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)
+- **🌐 Project Page:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/)
+- **🐛 Issues:** [https://github.com/FlagOpen/RoboCOIN/issues](https://github.com/FlagOpen/RoboCOIN/issues)
+- **📜 License:** apache-2.0
+
+## 🏷️ Dataset Tags
+
+- `RoboCOIN`
+- `LeRobot`
+
+
+## 🎯 Task Descriptions
+
+### Primary Tasks
+take the battery and put it on the table.
+
+### Sub-Tasks
+This dataset includes 3 distinct subtasks:
+
+1. **Place the power supply on the operating table.** 
+2. **Grab and lift the power supply from the large box.** 
+3. **null** 
+
+
+## 🎥 Camera Views
+
+This dataset includes 8 camera views.
+
+## 🏷️ Available Annotations
+
+This dataset includes rich annotations to support diverse learning approaches:
+
+### Subtask Annotations
+- **Subtask Segmentation**: Fine-grained subtask segmentation and labeling
+### Scene Annotations
+- **Scene-level Descriptions**: Semantic scene classifications and descriptions
+### End-Effector Annotations
+- **Direction**: Movement direction classifications for robot end-effectors
+- **Velocity**: Velocity magnitude categorizations during manipulation
+- **Acceleration**: Acceleration magnitude classifications for motion analysis
+
+
+### Gripper Annotations
+- **Gripper Mode**: Open/close state annotations for gripper control
+- **Gripper Activity**: Activity state classifications (active/inactive)
+
+
+### 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
+
+
+## 📂 Data Splits
+
+The dataset is organized into the following splits:
+
+- **Training**: Episodes 0:55
+
+
+## 📁 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 1 chunk(s)
+of size 1000
+
+
+### Features Schema
+
+The dataset includes the following features:
+
+#### Visual Observations
+- **observation.images.cam_high_rgb**: video
+  - FPS: 30
+  - Codec: av1- **observation.images.cam_left_wrist_rgb**: video
+  - FPS: 30
+  - Codec: av1- **observation.images.cam_right_wrist_rgb**: video
+  - FPS: 30
+  - Codec: av1- **observation.images.cam_back_left_fisheye_rgb**: video
+  - FPS: 30
+  - Codec: av1- **observation.images.cam_back_right_fisheye_rgb**: video
+  - FPS: 30
+  - Codec: av1- **observation.images.cam_high_center_fisheye_rgb**: video
+  - FPS: 30
+  - Codec: av1- **observation.images.cam_high_left_fisheye_rgb**: video
+  - FPS: 30
+  - Codec: av1- **observation.images.cam_high_right_fisheye_rgb**: video
+  - FPS: 30
+  - Codec: av1
+
+#### State and Action- **observation.state**: float32- **action**: float32
+
+#### Temporal Information
+- **timestamp**: float32
+- **frame_index**: int64
+- **episode_index**: int64
+- **index**: int64
+- **task_index**: int64
+
+
+#### Annotations
+- **subtask_annotation**: int32
+- **scene_annotation**: int32
+
+
+#### Motion Features
+- **eef_sim_pose_state**: float32
+  - Dimensions: left_eef_pos_x, left_eef_pos_y, left_eef_pos_z, left_eef_ori_x, left_eef_ori_y, left_eef_ori_z, right_eef_pos_x, right_eef_pos_y, right_eef_pos_z, right_eef_ori_x, right_eef_ori_y, right_eef_ori_z
+- **eef_sim_pose_action**: float32
+  - Dimensions: left_eef_pos_x, left_eef_pos_y, left_eef_pos_z, left_eef_ori_x, left_eef_ori_y, left_eef_ori_z, right_eef_pos_x, right_eef_pos_y, right_eef_pos_z, right_eef_ori_x, right_eef_ori_y, right_eef_ori_z
+- **eef_direction_state**: int32
+  - Dimensions: left_eef_direction, right_eef_direction
+- **eef_direction_action**: int32
+  - Dimensions: left_eef_direction, right_eef_direction
+- **eef_velocity_state**: int32
+  - Dimensions: left_eef_velocity, right_eef_velocity
+- **eef_velocity_action**: int32
+  - Dimensions: left_eef_velocity, right_eef_velocity
+- **eef_acc_mag_state**: int32
+  - Dimensions: left_eef_acc_mag, right_eef_acc_mag
+- **eef_acc_mag_action**: int32
+  - Dimensions: left_eef_acc_mag, right_eef_acc_mag
+
+
+#### Gripper Features
+- **gripper_open_scale_state**: float32
+  - Dimensions: left_gripper_open_scale, right_gripper_open_scale
+- **gripper_open_scale_action**: float32
+  - Dimensions: left_gripper_open_scale, right_gripper_open_scale
+- **gripper_mode_state**: int32
+  - Dimensions: left_gripper_mode, right_gripper_mode
+- **gripper_mode_action**: int32
+  - Dimensions: left_gripper_mode, right_gripper_mode
+- **gripper_activity_state**: int32
+  - Dimensions: left_gripper_activity, right_gripper_activity
+
+
+### Meta Information
+
+The complete dataset metadata is available in [meta/info.json](meta/info.json):
+
+```json
+{"codebase_version": "v2.1", "robot_type": "ruantong_a2d", "total_episodes": 56, "total_frames": 30215, "total_tasks": 1, "total_videos": 448, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": {"train": "0:55"}, "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", "features": {"observation.images.cam_high_rgb": {"dtype": "video", "shape": [720, 1280, 3], "names": ["height", "width", "channels"], "info": {"video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.cam_left_wrist_rgb": {"dtype": "video", "shape": [480, 848, 3], "names": ["height", "width", "channels"], "info": {"video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.cam_right_wrist_rgb": {"dtype": "video", "shape": [480, 848, 3], "names": ["height", "width", "channels"], "info": {"video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.cam_back_left_fisheye_rgb": {"dtype": "video", "shape": [1536, 1920, 3], "names": ["height", "width", "channels"], "info": {"video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.cam_back_right_fisheye_rgb": {"dtype": "video", "shape": [1536, 1920, 3], "names": ["height", "width", "channels"], "info": {"video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.cam_high_center_fisheye_rgb": {"dtype": "video", "shape": [1536, 1920, 3], "names": ["height", "width", "channels"], "info": {"video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.cam_high_left_fisheye_rgb": {"dtype": "video", "shape": [1536, 1920, 3], "names": ["height", "width", "channels"], "info": {"video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.cam_high_right_fisheye_rgb": {"dtype": "video", "shape": [1536, 1920, 3], "names": ["height", "width", "channels"], "info": {"video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.state": {"dtype": "float32", "shape": [41], "names": ["left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_arm_joint_7_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_arm_joint_7_rad", "left_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w"]}, "action": {"dtype": "float32", "shape": [34], "names": ["left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_arm_joint_7_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_arm_joint_7_rad", "left_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open"]}, "timestamp": {"dtype": "float32", "shape": [1], "names": null}, "frame_index": {"dtype": "int64", "shape": [1], "names": null}, "episode_index": {"dtype": "int64", "shape": [1], "names": null}, "index": {"dtype": "int64", "shape": [1], "names": null}, "task_index": {"dtype": "int64", "shape": [1], "names": null}, "subtask_annotation": {"names": null, "dtype": "int32", "shape": [5]}, "scene_annotation": {"names": null, "dtype": "int32", "shape": [1]}, "eef_sim_pose_state": {"names": ["left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_ori_x", "left_eef_ori_y", "left_eef_ori_z", "right_eef_pos_x", "right_eef_pos_y", "right_eef_pos_z", "right_eef_ori_x", "right_eef_ori_y", "right_eef_ori_z"], "dtype": "float32", "shape": [12]}, "eef_sim_pose_action": {"names": ["left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_ori_x", "left_eef_ori_y", "left_eef_ori_z", "right_eef_pos_x", "right_eef_pos_y", "right_eef_pos_z", "right_eef_ori_x", "right_eef_ori_y", "right_eef_ori_z"], "dtype": "float32", "shape": [12]}, "eef_direction_state": {"names": ["left_eef_direction", "right_eef_direction"], "dtype": "int32", "shape": [2]}, "eef_direction_action": {"names": ["left_eef_direction", "right_eef_direction"], "dtype": "int32", "shape": [2]}, "eef_velocity_state": {"names": ["left_eef_velocity", "right_eef_velocity"], "dtype": "int32", "shape": [2]}, "eef_velocity_action": {"names": ["left_eef_velocity", "right_eef_velocity"], "dtype": "int32", "shape": [2]}, "eef_acc_mag_state": {"names": ["left_eef_acc_mag", "right_eef_acc_mag"], "dtype": "int32", "shape": [2]}, "eef_acc_mag_action": {"names": ["left_eef_acc_mag", "right_eef_acc_mag"], "dtype": "int32", "shape": [2]}, "gripper_open_scale_state": {"names": ["left_gripper_open_scale", "right_gripper_open_scale"], "dtype": "float32", "shape": [2]}, "gripper_open_scale_action": {"names": ["left_gripper_open_scale", "right_gripper_open_scale"], "dtype": "float32", "shape": [2]}, "gripper_mode_state": {"names": ["left_gripper_mode", "right_gripper_mode"], "dtype": "int32", "shape": [2]}, "gripper_mode_action": {"names": ["left_gripper_mode", "right_gripper_mode"], "dtype": "int32", "shape": [2]}, "gripper_activity_state": {"names": ["left_gripper_activity", "right_gripper_activity"], "dtype": "int32", "shape": [2]}}}
+```
+
+### Directory Structure
+
+The dataset is organized as follows (showing leaf directories with first 5 files only):
+
+```
+AgiBot-g1_robotic_arm_picks_up_battery_qced_hardlink/
+├── annotations/
+│   ├── eef_acc_mag_annotation.jsonl
+│   ├── eef_direction_annotation.jsonl
+│   ├── eef_velocity_annotation.jsonl
+│   ├── gripper_activity_annotation.jsonl
+│   ├── gripper_mode_annotation.jsonl
+│   └── (...)
+├── data/
+│   └── chunk-000/
+│       ├── episode_000000.parquet
+│       ├── episode_000001.parquet
+│       ├── episode_000002.parquet
+│       ├── episode_000003.parquet
+│       ├── episode_000004.parquet
+│       └── (...)
+├── meta/
+│   ├── episodes.jsonl
+│   ├── episodes_stats.jsonl
+│   ├── info.json
+│   └── tasks.jsonl
+└── videos/
+    └── chunk-000/
+        ├── observation.images.cam_back_left_fisheye_rgb/
+        │   ├── episode_000000.mp4
+        │   ├── episode_000001.mp4
+        │   ├── episode_000002.mp4
+        │   ├── episode_000003.mp4
+        │   ├── episode_000004.mp4
+        │   └── (...)
+        ├── observation.images.cam_back_right_fisheye_rgb/
+        │   ├── episode_000000.mp4
+        │   ├── episode_000001.mp4
+        │   ├── episode_000002.mp4
+        │   ├── episode_000003.mp4
+        │   ├── episode_000004.mp4
+        │   └── (...)
+        ├── observation.images.cam_high_center_fisheye_rgb/
+        │   ├── episode_000000.mp4
+        │   ├── episode_000001.mp4
+        │   ├── episode_000002.mp4
+        │   ├── episode_000003.mp4
+        │   ├── episode_000004.mp4
+        │   └── (...)
+        ├── observation.images.cam_high_left_fisheye_rgb/
+        │   ├── episode_000000.mp4
+        │   ├── episode_000001.mp4
+        │   ├── episode_000002.mp4
+        │   ├── episode_000003.mp4
+        │   ├── episode_000004.mp4
+        │   └── (...)
+        ├── observation.images.cam_high_rgb/
+        │   ├── episode_000000.mp4
+        │   ├── episode_000001.mp4
+        │   ├── episode_000002.mp4
+        │   ├── episode_000003.mp4
+        │   ├── episode_000004.mp4
+        │   └── (...)
+        ├── observation.images.cam_high_right_fisheye_rgb/
+        │   ├── episode_000000.mp4
+        │   ├── episode_000001.mp4
+        │   ├── episode_000002.mp4
+        │   ├── episode_000003.mp4
+        │   ├── episode_000004.mp4
+        │   └── (...)
+        ├── observation.images.cam_left_wrist_rgb/
+        │   ├── episode_000000.mp4
+        │   ├── episode_000001.mp4
+        │   ├── episode_000002.mp4
+        │   ├── episode_000003.mp4
+        │   ├── episode_000004.mp4
+        │   └── (...)
+        └── observation.images.cam_right_wrist_rgb/
+            ├── episode_000000.mp4
+            ├── episode_000001.mp4
+            ├── episode_000002.mp4
+            ├── episode_000003.mp4
+            ├── episode_000004.mp4
+            └── (...)
+```
+
+
+## 📞 Contact and Support
+
+For questions, issues, or feedback regarding this dataset, please contact:
+- **Email:** None
+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={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},
+    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

AgiBot-g1_robotic_arm_picks_up_battery/annotations/eef_acc_mag_annotation.jsonl

@@ -0,0 +1,3 @@
+{"eef_acc_mag_index": 0, "eef_acc_mag": "constant"}
+{"eef_acc_mag_index": 1, "eef_acc_mag": "accelerating"}
+{"eef_acc_mag_index": 2, "eef_acc_mag": "decelerating"}

AgiBot-g1_robotic_arm_picks_up_battery/annotations/eef_direction_annotation.jsonl

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+{"eef_direction_index": 0, "eef_direction": "forward"}
+{"eef_direction_index": 1, "eef_direction": "backward"}
+{"eef_direction_index": 2, "eef_direction": "left"}
+{"eef_direction_index": 3, "eef_direction": "right"}
+{"eef_direction_index": 4, "eef_direction": "up"}
+{"eef_direction_index": 5, "eef_direction": "down"}
+{"eef_direction_index": 6, "eef_direction": "still"}

AgiBot-g1_robotic_arm_picks_up_battery/annotations/eef_velocity_annotation.jsonl

@@ -0,0 +1,3 @@
+{"eef_velocity_index": 0, "eef_velocity": "still"}
+{"eef_velocity_index": 1, "eef_velocity": "slow"}
+{"eef_velocity_index": 2, "eef_velocity": "fast"}

AgiBot-g1_robotic_arm_picks_up_battery/annotations/gripper_activity_annotation.jsonl

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+{"gripper_activity_index": 0, "gripper_activity": "openning"}
+{"gripper_activity_index": 1, "gripper_activity": "closing"}
+{"gripper_activity_index": 2, "gripper_activity": "holding"}
+{"gripper_activity_index": 3, "gripper_activity": "unknown"}

AgiBot-g1_robotic_arm_picks_up_battery/annotations/gripper_mode_annotation.jsonl

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+{"gripper_mode_index": 0, "gripper_mode": "open"}
+{"gripper_mode_index": 1, "gripper_mode": "closed"}
+{"gripper_mode_index": 2, "gripper_mode": "unknown"}

AgiBot-g1_robotic_arm_picks_up_battery/annotations/scene_annotations.jsonl

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+{"scene_index": 0, "scene": "The box is located at the back left, with multiple wires positioned throughout the back area, including one wire at the back left and several others placed variably in the back and center positions."}
+{"scene_index": 1, "scene": "The box is at the back, two wires are on the left, one wire is in the center."}
+{"scene_index": 2, "scene": "The wire is on the left, the box is at the back left, and another wire is also at the back left."}
+{"scene_index": 3, "scene": "The box is positioned at the back, with multiple wires also positioned at the back, and one wire in the center."}
+{"scene_index": 4, "scene": "The wires are positioned in various locations including the back, left, front left, and back left, while the box is located at the back left position."}
+{"scene_index": 5, "scene": "The box is positioned at the back, while the two wires are located on the left (one at the back-left)."}
+{"scene_index": 6, "scene": "There are multiple wires positioned in various locations around the box."}
+{"scene_index": 7, "scene": "The box is positioned at the back, and the wire is also located at the back, indicating that both objects share the same positional location but no specific relationship beyond their shared placement."}
+{"scene_index": 8, "scene": "Wire is on the left, box is at the back, wire is also at the back, another wire is at the back, a wire is in the center, and wire is located at the back left."}
+{"scene_index": 9, "scene": "The box is located at the back left position, while the wire is positioned on the left side."}
+{"scene_index": 10, "scene": "The box is located at the back left position."}
+{"scene_index": 11, "scene": "The box is located at the back.   Two wires are on the left side, one in the center, and another behind the left side."}
+{"scene_index": 12, "scene": "The box is located at the back left position, while the first wire is on the left side and the second wire is also positioned at the back left."}
+{"scene_index": 13, "scene": "The box is located at the back There are three wires positioned as follows two on the left one in the center and one at the front left"}
+{"scene_index": 14, "scene": "The wire is positioned at back left and shares that position with the box."}
+{"scene_index": 15, "scene": "The box is positioned at the back, while both wires are located on the left side."}
+{"scene_index": 16, "scene": "The box is located at the back, while two wires are positioned to the left."}
+{"scene_index": 17, "scene": "The box is located at the back, with three wires positioned as follows: two wires are also at the back (one on the left side and one on the back left), while the third wire extends to the left."}
+{"scene_index": 18, "scene": "The box is positioned at the back, while multiple wires are located in various positions: three are at the back, one at the back left, and two at the center."}
+{"scene_index": 19, "scene": "The wire is positioned to the left; another wire is at the back left position; additional wires are placed at the back. The box is located at the back."}
+{"scene_index": 20, "scene": "The wires are positioned at the back, back left, front left, and left of the box."}
+{"scene_index": 21, "scene": "The wire is positioned at the back, front left, and left sides of the box."}
+{"scene_index": 22, "scene": "The wire is positioned on the left side, with multiple wires also located at the center and back left positions relative to the box."}
+{"scene_index": 23, "scene": "The wire is on the left side, positioned to the left, while the box is located at the back left position, establishing their respective locations within the described arrangement."}
+{"scene_index": 24, "scene": "The box is positioned at the back, and multiple wires are located on the left, center, and back left sides."}
+{"scene_index": 25, "scene": "The wire on the left is positioned at the back-right, while the box is located at the back."}
+{"scene_index": 26, "scene": "The box is positioned at the back. There are four wires positioned on the left, one wire in the center, and one wire positioned at the back left."}
+{"scene_index": 27, "scene": "The box is located at the back left, with two wires positioned on the left side and one wire positioned at the back."}
+{"scene_index": 28, "scene": "The box is positioned at the back left, while the wire is located to the left."}
+{"scene_index": 29, "scene": "The box is positioned at the back, while wires are located in various positions including left, front left, back, center, and back left."}
+{"scene_index": 30, "scene": "The box is located at the back left, with wires positioned on the left, back, back left, and center."}
+{"scene_index": 31, "scene": "The box is at the back, located behind the wire which is also positioned at the back."}
+{"scene_index": 32, "scene": "The box is positioned at the back left, with three wires located to its left, center, and back."}
+{"scene_index": 33, "scene": "The box is located at the back, while the wire is positioned on the left side."}
+{"scene_index": 34, "scene": "The box is positioned at the back, while the wire is located on the left side."}
+{"scene_index": 35, "scene": "The wires are positioned at the back, left, and front-left sides, while the box is located at the back."}
+{"scene_index": 36, "scene": "The wire is on the left, the box is behind it, and another wire is also behind."}
+{"scene_index": 37, "scene": "The box is located at the back left position, while the wire is situated on the left side."}
+{"scene_index": 38, "scene": "Two wires are positioned at the back, two wires are positioned at the left, one wire is at front left, and a box is located at back left."}
+{"scene_index": 39, "scene": "The box is positioned at the back. There are multiple wires positioned on the left and center, with two wires specifically located at the center and four wires at the left."}
+{"scene_index": 40, "scene": "The box is positioned at the back, while multiple wires are located on the left and center sides."}
+{"scene_index": 41, "scene": "There are multiple wires positioned on the left and various points at the back (including the back right and back left), as well as a box located at the back."}
+{"scene_index": 42, "scene": "The wire is on the left, and the box is behind it."}
+{"scene_index": 43, "scene": "The wire is on the left, there is a box at the back, and multiple wires are also positioned at the back."}
+{"scene_index": 44, "scene": "The wires are positioned to the left and center, with two wires located at the back left."}
+{"scene_index": 45, "scene": "The wire is positioned on the left side, with another wire also on the left. There is a box located at the back left. Additional wires are placed at the back and back left positions."}
+{"scene_index": 46, "scene": "The wire is positioned at the back, the box is at the back left, another wire is on the left side, a third wire is also at the back, and two wires are located at the front left and left positions respectively."}
+{"scene_index": 47, "scene": "The box is located at the back left, with a wire positioned to its left and another wire centered in front of it."}
+{"scene_index": 48, "scene": "The wire on the left is positioned to the left, another wire is at the back, and a box is also located at the back."}
+{"scene_index": 49, "scene": "The wire at front left is positioned in front of or to the left of the box located at back. Additionally, there are multiple wires placed at various positions around the back and center areas."}
+{"scene_index": 50, "scene": "The box is located at the back, while multiple wires are positioned across various locations including front left, left sides, back left, and the center."}
+{"scene_index": 51, "scene": "The wire is on the left side, and the box is located at the back left position relative to it."}
+{"scene_index": 52, "scene": "The box is located at the back left, while the wire is positioned on the left side."}
+{"scene_index": 53, "scene": "The box is located at the back left, while the wire is positioned behind it but not specified to be in a particular side beyond the back area."}
+{"scene_index": 54, "scene": "The box is positioned at the back, and there are multiple wires located at various positions: two wires are on the left, one wire is centered, and another wire is also positioned at the back."}
+{"scene_index": 55, "scene": "The wire is positioned in front left, and the box is located at the back."}
+{"scene_index": 56, "scene": "At back left: two objects, a wire and a box, are positioned together. At front left: a single wire is placed."}

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+{"subtask_index": 1, "subtask": "Grab and lift the power supply from the large box."}
+{"subtask_index": 2, "subtask": "null"}

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