--- 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: 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 - Test 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` ## πŸ› οΈ 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` ## πŸ“Š 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 | ## πŸ“‚ Data Splits The dataset is organized into the following splits: - **Training**: Episodes 0:89 - **Validation**: Episodes 89:99 - **Test**: Episodes 99:109 ## 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 10 chunk(s) of size 10 ## πŸŽ₯ 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/ β”œβ”€β”€ data/ β”‚ └── chunk-*/episode_*.parquet β”œβ”€β”€ videos/ β”‚ └── chunk-*/camera_*/episode_*.mp4 β”œβ”€β”€ meta/ β”‚ └── 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` ## πŸ‘₯ Authors ### Contributors This dataset is contributed by: - RoboCOIN - [https://flagopen.github.io/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) - **πŸ“œ License:** apache-2.0 ## πŸ“ž 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. ## 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={...}, 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