diff --git a/AgiBot-g1_right_capture_part/.gitattributes b/AgiBot-g1_right_capture_part/.gitattributes new file mode 100644 index 0000000000000000000000000000000000000000..1ef325f1b111266a6b26e0196871bd78baa8c2f3 --- /dev/null +++ b/AgiBot-g1_right_capture_part/.gitattributes @@ -0,0 +1,59 @@ +*.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 +*.ckpt filter=lfs diff=lfs merge=lfs -text +*.ftz filter=lfs diff=lfs merge=lfs -text +*.gz filter=lfs diff=lfs merge=lfs -text +*.h5 filter=lfs diff=lfs merge=lfs -text +*.joblib filter=lfs diff=lfs merge=lfs -text +*.lfs.* filter=lfs diff=lfs merge=lfs -text +*.lz4 filter=lfs diff=lfs merge=lfs -text +*.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 +*.tflite filter=lfs diff=lfs merge=lfs -text +*.tgz filter=lfs diff=lfs merge=lfs -text +*.wasm filter=lfs diff=lfs merge=lfs -text +*.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 diff --git a/AgiBot-g1_right_capture_part/README.md b/AgiBot-g1_right_capture_part/README.md new file mode 100644 index 0000000000000000000000000000000000000000..425b6fc955d24a1f73fd1f6dcee978513f70ec22 --- /dev/null +++ b/AgiBot-g1_right_capture_part/README.md @@ -0,0 +1,366 @@ +--- +task_categories: + - robotics + +language: + - en + - zh + + +extra_gated_prompt: 'By accessing this dataset, you agree to cite the associated paper in your research/publicationsβ€”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_right_capture_part + +## πŸ“‹ 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` + + +## πŸ€– Atomic Actions + +This dataset includes the following atomic actions: +- `grasp` + + +## πŸ“Š Dataset Statistics + +| Metric | Value | +|--------|-------| +| **Total Episodes** | 57 | +| **Total Frames** | 27866 | +| **Total Tasks** | 1 | +| **Total Videos** | 456 | +| **Total Chunks** | 1 | +| **Chunk Size** | 1000 | +| **FPS** | 30 | +| **Dataset Size** | 13.1GB | + + +## πŸ‘₯ Authors + +### Contributors +This dataset is contributed by: +- [RoboCOIN](https://flagopen.github.io/RoboCOIN/) - RoboCOIN Team + + +## πŸ”— Links + +- **🏠 Homepage:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/) +- **πŸ“„ Paper:** [https://arxiv.org/abs/2511.17441](https://arxiv.org/abs/2511.17441) +- **πŸ’» Repository:** [https://github.com/FlagOpen/RoboCOIN](https://github.com/FlagOpen/RoboCOIN) +- **🌐 Project Page:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/) +- **πŸ› Issues:** [https://github.com/FlagOpen/RoboCOIN/issues](https://github.com/FlagOpen/RoboCOIN/issues) +- **πŸ“œ License:** apache-2.0 + +## 🏷️ Dataset Tags + +- `RoboCOIN` +- `LeRobot` + + +## 🎯 Task Descriptions + +### Primary Tasks +grasp the part and place them on the black container. + +### Sub-Tasks +This dataset includes 3 distinct subtasks: + +1. **Place the front USB bracket into the box.** +2. **Pick up and lift the front USB bracket from the feeding area.** +3. **null** + + +## πŸŽ₯ 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 + + +## πŸ“‚ Data Splits + +The dataset is organized into the following splits: + +- **Training**: Episodes 0:56 + + +## πŸ“ 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": 57, "total_frames": 27866, "total_tasks": 1, "total_videos": 456, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": {"train": "0:56"}, "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_right_capture_part_qced_hardlink/ +β”œβ”€β”€ annotations/ +β”‚ β”œβ”€β”€ eef_acc_mag_annotation.jsonl +β”‚ β”œβ”€β”€ eef_direction_annotation.jsonl +β”‚ β”œβ”€β”€ eef_velocity_annotation.jsonl +β”‚ β”œβ”€β”€ gripper_activity_annotation.jsonl +β”‚ β”œβ”€β”€ gripper_mode_annotation.jsonl +β”‚ └── (...) +β”œβ”€β”€ data/ +β”‚ └── chunk-000/ +β”‚ β”œβ”€β”€ episode_000000.parquet +β”‚ β”œβ”€β”€ episode_000001.parquet +β”‚ β”œβ”€β”€ episode_000002.parquet +β”‚ β”œβ”€β”€ episode_000003.parquet +β”‚ β”œβ”€β”€ episode_000004.parquet +β”‚ └── (...) +β”œβ”€β”€ meta/ +β”‚ β”œβ”€β”€ episodes.jsonl +β”‚ β”œβ”€β”€ episodes_stats.jsonl +β”‚ β”œβ”€β”€ info.json +β”‚ └── tasks.jsonl +└── videos/ + └── chunk-000/ + β”œβ”€β”€ observation.images.cam_back_left_fisheye_rgb/ + β”‚ β”œβ”€β”€ episode_000000.mp4 + β”‚ β”œβ”€β”€ episode_000001.mp4 + β”‚ β”œβ”€β”€ episode_000002.mp4 + β”‚ β”œβ”€β”€ episode_000003.mp4 + β”‚ β”œβ”€β”€ episode_000004.mp4 + β”‚ └── (...) + β”œβ”€β”€ observation.images.cam_back_right_fisheye_rgb/ + β”‚ β”œβ”€β”€ episode_000000.mp4 + β”‚ β”œβ”€β”€ episode_000001.mp4 + β”‚ β”œβ”€β”€ episode_000002.mp4 + β”‚ β”œβ”€β”€ episode_000003.mp4 + β”‚ β”œβ”€β”€ episode_000004.mp4 + β”‚ └── (...) + β”œβ”€β”€ observation.images.cam_high_center_fisheye_rgb/ + β”‚ β”œβ”€β”€ episode_000000.mp4 + β”‚ β”œβ”€β”€ episode_000001.mp4 + β”‚ β”œβ”€β”€ episode_000002.mp4 + β”‚ β”œβ”€β”€ episode_000003.mp4 + β”‚ β”œβ”€β”€ episode_000004.mp4 + β”‚ └── (...) + β”œβ”€β”€ observation.images.cam_high_left_fisheye_rgb/ + β”‚ β”œβ”€β”€ episode_000000.mp4 + β”‚ β”œβ”€β”€ episode_000001.mp4 + β”‚ β”œβ”€β”€ episode_000002.mp4 + β”‚ β”œβ”€β”€ episode_000003.mp4 + β”‚ β”œβ”€β”€ episode_000004.mp4 + β”‚ └── (...) + β”œβ”€β”€ observation.images.cam_high_rgb/ + β”‚ β”œβ”€β”€ episode_000000.mp4 + β”‚ β”œβ”€β”€ episode_000001.mp4 + β”‚ β”œβ”€β”€ episode_000002.mp4 + β”‚ β”œβ”€β”€ episode_000003.mp4 + β”‚ β”œβ”€β”€ episode_000004.mp4 + β”‚ └── (...) + β”œβ”€β”€ observation.images.cam_high_right_fisheye_rgb/ + β”‚ β”œβ”€β”€ episode_000000.mp4 + β”‚ β”œβ”€β”€ episode_000001.mp4 + β”‚ β”œβ”€β”€ episode_000002.mp4 + β”‚ β”œβ”€β”€ episode_000003.mp4 + β”‚ β”œβ”€β”€ episode_000004.mp4 + β”‚ └── (...) + β”œβ”€β”€ observation.images.cam_left_wrist_rgb/ + β”‚ β”œβ”€β”€ episode_000000.mp4 + β”‚ β”œβ”€β”€ episode_000001.mp4 + β”‚ β”œβ”€β”€ episode_000002.mp4 + β”‚ β”œβ”€β”€ episode_000003.mp4 + β”‚ β”œβ”€β”€ episode_000004.mp4 + β”‚ └── (...) + └── observation.images.cam_right_wrist_rgb/ + β”œβ”€β”€ episode_000000.mp4 + β”œβ”€β”€ episode_000001.mp4 + β”œβ”€β”€ episode_000002.mp4 + β”œβ”€β”€ episode_000003.mp4 + β”œβ”€β”€ episode_000004.mp4 + └── (...) +``` + + +## πŸ“ž 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. + +## πŸ“„ License + +This dataset is released under the **apache-2.0** license. + +Please refer to the LICENSE file for full license terms and conditions. + + +## πŸ“š 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 + +## πŸ“Œ Version Information + +## Version History +- v1.0.0 (2025-11): Initial release \ No newline at end of file diff --git a/AgiBot-g1_right_capture_part/annotations/eef_acc_mag_annotation.jsonl b/AgiBot-g1_right_capture_part/annotations/eef_acc_mag_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..261c0cb86faecc005328e7b464d8fa76fc4eab3a --- /dev/null +++ b/AgiBot-g1_right_capture_part/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"} diff --git a/AgiBot-g1_right_capture_part/annotations/eef_direction_annotation.jsonl b/AgiBot-g1_right_capture_part/annotations/eef_direction_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..15eb9abd75814183c860e3bffd75f9148c4e0d04 --- /dev/null +++ b/AgiBot-g1_right_capture_part/annotations/eef_direction_annotation.jsonl @@ -0,0 +1,7 @@ +{"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"} diff --git a/AgiBot-g1_right_capture_part/annotations/eef_velocity_annotation.jsonl b/AgiBot-g1_right_capture_part/annotations/eef_velocity_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..67c684f8b05e1f6240ea5dd4a9bc9a5df14fe086 --- /dev/null +++ b/AgiBot-g1_right_capture_part/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"} diff --git a/AgiBot-g1_right_capture_part/annotations/gripper_activity_annotation.jsonl b/AgiBot-g1_right_capture_part/annotations/gripper_activity_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..275a505f9220cce6502eac987c96a0261ef3f030 --- /dev/null +++ b/AgiBot-g1_right_capture_part/annotations/gripper_activity_annotation.jsonl @@ -0,0 +1,4 @@ +{"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"} diff --git a/AgiBot-g1_right_capture_part/annotations/gripper_mode_annotation.jsonl b/AgiBot-g1_right_capture_part/annotations/gripper_mode_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3825f1be6645468297ad5be29f9275f04db52345 --- /dev/null +++ b/AgiBot-g1_right_capture_part/annotations/gripper_mode_annotation.jsonl @@ -0,0 +1,3 @@ +{"gripper_mode_index": 0, "gripper_mode": "open"} +{"gripper_mode_index": 1, "gripper_mode": "closed"} +{"gripper_mode_index": 2, "gripper_mode": "unknown"} diff --git a/AgiBot-g1_right_capture_part/annotations/scene_annotations.jsonl b/AgiBot-g1_right_capture_part/annotations/scene_annotations.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..131c2ba866c994eb12b87298c1f74dc811a8f7bb --- /dev/null +++ b/AgiBot-g1_right_capture_part/annotations/scene_annotations.jsonl @@ -0,0 +1,64 @@ +{"scene_index": 0, "scene": "The plastic box is in front. The parts are arranged in front and some are also positioned at the front right."} +{"scene_index": 1, "scene": "The plastic box is at the front, with parts positioned in front of it on both the left and right sides."} +{"scene_index": 2, "scene": "The parts are located at the front right and front positions, while the plastic box is also positioned at the front right."} +{"scene_index": 3, "scene": "The parts are positioned in the front area, with two at the front right and three at the front center."} +{"scene_index": 4, "scene": "The plastic box is located at front right, with multiple parts positioned nearby in the front area."} +{"scene_index": 5, "scene": "The plastic box is in the front. Two parts are positioned at the front right, and four parts are located at the front."} +{"scene_index": 6, "scene": "The plastic box is at the front. The parts are located in the front, with some positioned slightly to the front right."} +{"scene_index": 7, "scene": "The plastic box is at the front, with parts positioned in front of it, including some parts at the front and one part at the front right."} +{"scene_index": 8, "scene": "The parts are positioned at the front, with two specifically located in the front-right area, while a plastic box is also placed at the front."} +{"scene_index": 9, "scene": "The plastic box is at the front, and all parts except one are in front; the remaining part is at the back left."} +{"scene_index": 10, "scene": "The plastic box is at the front, and parts are located in various positions including front right, front, and front."} +{"scene_index": 11, "scene": "Each parts object is positioned in the front, with multiple instances located there, and a plastic box is also present at the front."} +{"scene_index": 12, "scene": "The parts are positioned at the front and front right, with two of them located at the front right. Additionally, there is a plastic box placed at the front right."} +{"scene_index": 13, "scene": "The plastic box is in the front position, while several parts are located at the front and one part is specifically placed in the front right position."} +{"scene_index": 14, "scene": "The plastic box is located in the front right, with parts positioned at front right, back left, front right, front, and front."} +{"scene_index": 15, "scene": "parts front parts front right parts front parts front plastic box front"} +{"scene_index": 16, "scene": "The plastic box is at front right, with parts arranged around it in various positions including front right and front."} +{"scene_index": 17, "scene": "The plastic box is positioned at the front, with parts located in the front and front right positions."} +{"scene_index": 18, "scene": "The plastic box is at the front, with parts positioned in front of it and additional parts placed in the front, front right, and front positions."} +{"scene_index": 19, "scene": "The plastic box is in front, with parts arranged around it, including four parts at the front and two parts positioned to the front right."} +{"scene_index": 20, "scene": "The plastic box is located in the front, with parts positioned both in front of it and extending to the front-right."} +{"scene_index": 21, "scene": "The two parts are at the front, with one specifically located at the front right. Additionally, there is a plastic box also positioned at the front."} +{"scene_index": 22, "scene": "The parts are located at the front of the assembly, with some positioned specifically in the front right area, while the plastic box is also placed at the front."} +{"scene_index": 23, "scene": "The plastic box is at the front, and parts are positioned in the front and front right."} +{"scene_index": 24, "scene": "The plastic box is in front, with parts positioned in the front and front right."} +{"scene_index": 25, "scene": "The plastic box is at the front, with parts positioned in the front right and front areas."} +{"scene_index": 26, "scene": "The parts are positioned in the front and front right areas, while a plastic box is placed at the front."} +{"scene_index": 27, "scene": "The plastic box is at the front. Five parts are located at the front, and one part is positioned at the front right."} +{"scene_index": 28, "scene": "The parts are located in the front, with two of them specifically positioned at the front right, and one is placed inside a plastic box also situated at the front."} +{"scene_index": 29, "scene": "The plastic box is at the front. The parts are in front, with some specifically located at the front right."} +{"scene_index": 30, "scene": "The parts are located in multiple positions at the front, including front right, while a single plastic box is also positioned at the front."} +{"scene_index": 31, "scene": "The plastic box is at the front, with parts located in front right, front, front right, and front positions."} +{"scene_index": 32, "scene": "The plastic box is at the front, with five parts also located in front and one part positioned in the front-right area."} +{"scene_index": 33, "scene": "The plastic box is positioned in front, and multiple parts are placed at various positions including front, front (two instances), and front right."} +{"scene_index": 34, "scene": "The plastic box is at the front, with parts positioned in front, some of which are also in the front right."} +{"scene_index": 35, "scene": "The plastic box is located at the front right. Inside it, there are multiple parts positioned in the front and front right areas."} +{"scene_index": 36, "scene": "Each parts is positioned in front, with two located at the front and one specifically at the front right; there s also a plastic box placed in front."} +{"scene_index": 37, "scene": "The plastic box is at the front, with parts placed in front of it, and additional parts located at the front right."} +{"scene_index": 38, "scene": "The parts are positioned in the front area, with two of them specifically located at the front right. Additionally, there is a plastic box placed in the front."} +{"scene_index": 39, "scene": "Parts are located at both the front right and front. The plastic box is positioned at the front right."} +{"scene_index": 40, "scene": "The plastic box is in front. In front of the plastic box are parts located front, front right, front, and front right; behind the plastic box is a part located back left."} +{"scene_index": 41, "scene": "The parts are located at the front, with some specifically positioned at the front right, while a plastic box is also placed at the front."} +{"scene_index": 42, "scene": "A plastic box is positioned in front, with parts placed both in front and at the front right."} +{"scene_index": 43, "scene": "The plastic box is positioned in front, with parts located at the front and front right."} +{"scene_index": 44, "scene": "The parts are located at the front and front right positions, with two instances at front right and five at front; the plastic box is positioned in front."} +{"scene_index": 45, "scene": "The parts are positioned at the front, with two specifically located in the front right, while a plastic box is also placed at the front."} +{"scene_index": 46, "scene": "The parts are positioned in the front, with two of them specifically located at the front right, while a plastic box is also placed at the front."} +{"scene_index": 47, "scene": "The parts are located in both the front and front right positions, with some overlapping at front right. Additionally, there is a plastic box situated at the front."} +{"scene_index": 48, "scene": "The parts are positioned in the front and front right, while the plastic box is located specifically in the front right."} +{"scene_index": 49, "scene": "parts front, parts front, parts front right, parts front right, plastic box front, parts front"} +{"scene_index": 50, "scene": "The plastic box is at the front. The parts are located in various positions: two are at the front right and front, one is at the left, and the others are also at the front."} +{"scene_index": 51, "scene": "The plastic box is positioned at the front, with multiple parts arranged around it, some in the front and one specifically placed at the front right."} +{"scene_index": 52, "scene": "The plastic box is in front, with parts positioned to its front right, front right again, front, and front."} +{"scene_index": 53, "scene": "The two parts at the front, along with one additional part in the front right, and a plastic box also located at the front."} +{"scene_index": 54, "scene": "The parts are positioned at the front, with two of them located specifically in the front right area, while the plastic box is also placed at the front."} +{"scene_index": 55, "scene": "The plastic box is at the front right, and parts are located in the front and front right positions."} +{"scene_index": 56, "scene": "The two parts at front right are positioned there, with another part at front, and a plastic box is also placed at front right."} +{"scene_index": 57, "scene": "The plastic box is at the front, with parts located in front positions, including front right."} +{"scene_index": 58, "scene": "There is a plastic box located at the front, with parts positioned in front of it. Additionally, there are multiple parts located at the front and specifically one part at the front right."} +{"scene_index": 59, "scene": "The plastic box is located at the front, while parts are positioned in multiple locations: front right, front, and another part also at front."} +{"scene_index": 60, "scene": "The plastic box is at the front, with parts positioned in front (front), front (front), front right, and front."} +{"scene_index": 61, "scene": "The two parts at front right form a pair and are positioned together in front of the other four parts and the plastic box at front."} +{"scene_index": 62, "scene": "The parts are positioned at the front, with two of them specifically located in the front right area. A plastic box is also placed at the front."} +{"scene_index": 63, "scene": "The plastic box is at the front. The parts are positioned in front and one part is in front right."} diff --git a/AgiBot-g1_right_capture_part/annotations/subtask_annotations.jsonl b/AgiBot-g1_right_capture_part/annotations/subtask_annotations.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..08eefe01bf480453db4b3f8cdc3914ef934ec497 --- /dev/null +++ b/AgiBot-g1_right_capture_part/annotations/subtask_annotations.jsonl @@ -0,0 +1,3 @@ +{"subtask_index": 0, "subtask": "Place the front USB bracket into the box."} +{"subtask_index": 1, "subtask": "Pick up and lift the front USB bracket from the feeding area."} +{"subtask_index": 2, "subtask": "null"} diff --git a/AgiBot-g1_right_capture_part/data/chunk-000/episode_000000.parquet b/AgiBot-g1_right_capture_part/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..8d49f6132ffe1638c0b3b40a39c4a7caa5ccd7e3 --- /dev/null +++ b/AgiBot-g1_right_capture_part/data/chunk-000/episode_000000.parquet @@ -0,0 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