Update RoboCOIN assets

dataset_info/Galaxea_R1_Lite_storage_object_dish.yaml

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+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+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"
+codebase_version: v2.1
+dataset_name: Galaxea_R1_Lite_storage_object_dish
+dataset_uuid: 00000000-0000-0000-0000-000000000000
+scene_type:
+  level1: household
+  level2: living_room
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: dish
+  level1: plates
+  level2: dish
+  level3: null
+  level4: null
+  level5: null
+- object_name: banana
+  level1: fruits
+  level2: banana
+  level3: null
+  level4: null
+  level5: null
+- object_name: bathing_in_flowers
+  level1: daily_necessities
+  level2: bathing_in_flowers
+  level3: null
+  level4: null
+  level5: null
+- object_name: blue_cup
+  level1: cups
+  level2: blue_cup
+  level3: null
+  level4: null
+  level5: null
+- object_name: blue_pot
+  level1: kitchen_supplies
+  level2: blue_pot
+  level3: null
+  level4: null
+  level5: null
+- object_name: toast_slices
+  level1: bread
+  level2: toast_slices
+  level3: null
+  level4: null
+  level5: null
+- object_name: brown_towel
+  level1: towels
+  level2: brown_towel
+  level3: null
+  level4: null
+  level5: null
+- object_name: can
+  level1: snacks
+  level2: can
+  level3: null
+  level4: null
+  level5: null
+- object_name: coke
+  level1: beverages
+  level2: coke
+  level3: null
+  level4: null
+  level5: null
+- object_name: potato_chips
+  level1: snacks
+  level2: potato_chips
+  level3: null
+  level4: null
+  level5: null
+- object_name: chocolate
+  level1: snacks
+  level2: chocolate
+  level3: null
+  level4: null
+  level5: null
+- object_name: compass
+  level1: stationery
+  level2: compass
+  level3: null
+  level4: null
+  level5: null
+- object_name: block_pillar
+  level1: toys
+  level2: block_pillar
+  level3: null
+  level4: null
+  level5: null
+- object_name: egg_beater
+  level1: kitchen_supplies
+  level2: egg_beater
+  level3: null
+  level4: null
+  level5: null
+- object_name: eraser
+  level1: stationery
+  level2: eraser
+  level3: null
+  level4: null
+  level5: null
+- object_name: chewing_gum
+  level1: snacks
+  level2: chewing_gum
+  level3: null
+  level4: null
+  level5: null
+- object_name: mentholatum_facial_cleanser
+  level1: daily_chemical_products
+  level2: mentholatum_facial_cleanser
+  level3: null
+  level4: null
+  level5: null
+- object_name: green_lemon
+  level1: fruits
+  level2: green_lemon
+  level3: null
+  level4: null
+  level5: null
+- object_name: peach
+  level1: fruits
+  level2: peach
+  level3: null
+  level4: null
+  level5: null
+- object_name: power_strip
+  level1: electrical_control_equipment
+  level2: power_strip
+  level3: null
+  level4: null
+  level5: null
+- object_name: round_bread
+  level1: bread
+  level2: round_bread
+  level3: null
+  level4: null
+  level5: null
+- object_name: mentholatum_facial_cleanser
+  level1: daily_chemical_products
+  level2: mentholatum_facial_cleanser
+  level3: null
+  level4: null
+  level5: null
+- object_name: square_building_blocks
+  level1: toys
+  level2: square_building_blocks
+  level3: null
+  level4: null
+  level5: null
+- object_name: tape
+  level1: stationery
+  level2: tape
+  level3: null
+  level4: null
+  level5: null
+- object_name: cake
+  level1: bread
+  level2: cake
+  level3: null
+  level4: null
+  level5: null
+- object_name: duck
+  level1: doll
+  level2: duck
+  level3: null
+  level4: null
+  level5: null
+- object_name: ambrosial_yogurt
+  level1: beverages
+  level2: ambrosial_yogurt
+  level3: null
+  level4: null
+  level5: null
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- use a gripper to pick the target object and place on the dish.
+sub_tasks:
+- subtask: Grasp the blue pot with the left gripper
+  subtask_index: 0
+- subtask: Place the back scratcher on the dish with the right gripper
+  subtask_index: 1
+- subtask: Grasp the plugboard with the left gripper
+  subtask_index: 2
+- subtask: Place the soft facial cleanser on the dish with the right gripper
+  subtask_index: 3
+- subtask: Grasp the potato chips with the right gripper
+  subtask_index: 4
+- subtask: Grasp the banana with the left gripper
+  subtask_index: 5
+- subtask: Grasp the compasses with the right gripper
+  subtask_index: 6
+- subtask: Grasp the duck toy with the left gripper
+  subtask_index: 7
+- subtask: Place the round bread on the dish with the left gripper
+  subtask_index: 8
+- subtask: Grasp the blue cup with the left gripper
+  subtask_index: 9
+- subtask: Place the compasses on the dish with the right gripper
+  subtask_index: 10
+- subtask: Place the duck toy on the dish with the right gripper
+  subtask_index: 11
+- subtask: Place the round wooden block on the dish with the right gripper
+  subtask_index: 12
+- subtask: Place the green lemon on the dish with the right gripper
+  subtask_index: 13
+- subtask: Grasp the back scratcher with the right gripper
+  subtask_index: 14
+- subtask: Grasp the square chewing gum with the left gripper
+  subtask_index: 15
+- subtask: Grasp the chocolate cake with the right gripper
+  subtask_index: 16
+- subtask: Grasp the shower sphere with the left gripper
+  subtask_index: 17
+- subtask: Place the peach on the dish with the left gripper
+  subtask_index: 18
+- subtask: Grasp the plugboard with the right gripper
+  subtask_index: 19
+- subtask: Grasp the tin with the left gripper
+  subtask_index: 20
+- subtask: Grasp the brown towel with the left gripper
+  subtask_index: 21
+- subtask: Place the brown towel on the dish with the right gripper
+  subtask_index: 22
+- subtask: Grasp the hard facial cleanser with the left gripper
+  subtask_index: 23
+- subtask: Place the plugboard on the dish with the right gripper
+  subtask_index: 24
+- subtask: Grasp the peach with the right gripper
+  subtask_index: 25
+- subtask: Grasp the brown towel with the right gripper
+  subtask_index: 26
+- subtask: Place the coke on the dish with the right gripper
+  subtask_index: 27
+- subtask: Place the banana on the dish with the left gripper
+  subtask_index: 28
+- subtask: Place the peach on the dish with the right gripper
+  subtask_index: 29
+- subtask: Grasp the hard facial cleanser with the right gripper
+  subtask_index: 30
+- subtask: Place the potato chips on the dish with the right gripper
+  subtask_index: 31
+- subtask: Grasp the peach with the left gripper
+  subtask_index: 32
+- subtask: Grasp the green lemon with the right gripper
+  subtask_index: 33
+- subtask: Place the chocolate cake on the dish with the right gripper
+  subtask_index: 34
+- subtask: Place the plugboard on the dish with the left gripper
+  subtask_index: 35
+- subtask: Grasp the bread slice with the right gripper
+  subtask_index: 36
+- subtask: Place the square chewing gum on the dish with the right gripper
+  subtask_index: 37
+- subtask: Grasp the duck toy with the right gripper
+  subtask_index: 38
+- subtask: End
+  subtask_index: 39
+- subtask: Place the blackboard erasure on the dish with the left gripper
+  subtask_index: 40
+- subtask: Grasp the blackboard erasure with the left gripper
+  subtask_index: 41
+- subtask: Grasp the coke with the left gripper
+  subtask_index: 42
+- subtask: Place the tape on the dish with the right gripper
+  subtask_index: 43
+- subtask: Place the bread slice on the dish with the right gripper
+  subtask_index: 44
+- subtask: Place the shower sphere on the dish with the right gripper
+  subtask_index: 45
+- subtask: Grasp the round wooden block with the left gripper
+  subtask_index: 46
+- subtask: Grasp the compasses with the left gripper
+  subtask_index: 47
+- subtask: Place the banana on the dish with the right gripper
+  subtask_index: 48
+- subtask: Grasp the blue pot with the right gripper
+  subtask_index: 49
+- subtask: Grasp the round bread with the right gripper
+  subtask_index: 50
+- subtask: Grasp the chocolate cake with the left gripper
+  subtask_index: 51
+- subtask: Place the square chewing gum on the dish with the left gripper
+  subtask_index: 52
+- subtask: Place the blue cup on the dish with the right gripper
+  subtask_index: 53
+- subtask: Place the hard facial cleanser on the dish with the right gripper
+  subtask_index: 54
+- subtask: Place the blue cup on the dish with the left gripper
+  subtask_index: 55
+- subtask: Grasp the tape with the right gripper
+  subtask_index: 56
+- subtask: Place the duck toy on the dish with the left gripper
+  subtask_index: 57
+- subtask: Grasp the coke with the right gripper
+  subtask_index: 58
+- subtask: Place the square wooden block on the dish with the right gripper
+  subtask_index: 59
+- subtask: Grasp the square chewing gum with the right gripper
+  subtask_index: 60
+- subtask: Place the round bread on the dish with the right gripper
+  subtask_index: 61
+- subtask: Grasp the shower sphere with the right gripper
+  subtask_index: 62
+- subtask: Place the brown towel on the dish with the left gripper
+  subtask_index: 63
+- subtask: Place the bread slice on the dish with the left gripper
+  subtask_index: 64
+- subtask: Grasp the bread slice with the left gripper
+  subtask_index: 65
+- subtask: Grasp the yogurt with the left gripper
+  subtask_index: 66
+- subtask: Place the blue pot on the dish with the left gripper
+  subtask_index: 67
+- subtask: Grasp the blackboard erasure with the right gripper
+  subtask_index: 68
+- subtask: Place the coke on the dish with the left gripper
+  subtask_index: 69
+- subtask: Place the square wooden block on the dish with the left gripper
+  subtask_index: 70
+- subtask: Place the yogurt on the dish with the left gripper
+  subtask_index: 71
+- subtask: Place the chocolate cake on the dish with the left gripper
+  subtask_index: 72
+- subtask: Place the compasses on the dish with the left gripper
+  subtask_index: 73
+- subtask: Place the round wooden block on the dish with the left gripper
+  subtask_index: 74
+- subtask: Place the chocolate on the dish with the left gripper
+  subtask_index: 75
+- subtask: Grasp the round bread with the left gripper
+  subtask_index: 76
+- subtask: Grasp the chocolate with the left gripper
+  subtask_index: 77
+- subtask: Grasp the square wooden block with the left gripper
+  subtask_index: 78
+- subtask: Grasp the blue cup with the right gripper
+  subtask_index: 79
+- subtask: Grasp the soft facial cleanser with the right gripper
+  subtask_index: 80
+- subtask: Place the shower sphere on the dish with the left gripper
+  subtask_index: 81
+- subtask: Place the tin on the dish with the left gripper
+  subtask_index: 82
+- subtask: Grasp the square wooden block with the right gripper
+  subtask_index: 83
+- subtask: Place the hard facial cleanser on the dish with the left gripper
+  subtask_index: 84
+- subtask: Place the blackboard erasure on the dish with the right gripper
+  subtask_index: 85
+- subtask: Place the blue pot on the dish with the right gripper
+  subtask_index: 86
+- subtask: Grasp the round wooden block with the right gripper
+  subtask_index: 87
+- subtask: Grasp the banana with the right gripper
+  subtask_index: 88
+- subtask: 'null'
+  subtask_index: 89
+atomic_actions:
+- grasp
+- pick
+- place
+robot_name:
+- Galaxea_R1_Lite
+end_effector_type: two_finger_gripper
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_left_rgb
+- cam_head_right_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+came_info:
+  cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1,
+    pix_fmt=yuv420p
+  cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1,
+    pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1,
+    pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: end_rotation_dim
+end_translation_dim: end_translation_dim
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 101
+  total_frames: 26346
+  fps: 30
+  total_tasks: 90
+  total_videos: 404
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 14
+  action_dim: 14
+  camera_views: 4
+  dataset_size: 993.15 MB
+frame_num: 26346
+dataset_size: 993.15 MB
+data_structure: 'Galaxea_R1_Lite_storage_object_dish_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   |-- gripper_mode_annotation.jsonl
+
+  |   |-- scene_annotations.jsonl
+
+  |   `-- subtask_annotations.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (89 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_head_left_rgb
+
+  |       |-- observation.images.cam_head_right_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
+splits:
+  train: 0:100
+features:
+  observation.images.cam_head_left_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_head_right_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:
+    - 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_right_wrist_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.state:
+    dtype: float32
+    shape:
+    - 14
+    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
+    - 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
+    - left_gripper_open
+    - right_gripper_open
+  action:
+    dtype: float32
+    shape:
+    - 14
+    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
+    - 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
+    - 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
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  gripper_open_scale_state:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    shape:
+    - 2
+    dtype: float32
+  gripper_open_scale_action:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    shape:
+    - 2
+    dtype: float32
+  gripper_mode_state:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    shape:
+    - 2
+    dtype: int32
+  gripper_mode_action:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    shape:
+    - 2
+    dtype: int32
+  gripper_activity_state:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    shape:
+    - 2
+    dtype: int32
+  gripper_activity_action:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    shape:
+    - 2
+    dtype: int32
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  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},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4

info/consolidated_datasets.json

@@ -40362,6 +40362,1053 @@
     "data_schema": "leju_robot_hotel_services_b_qced_hardlink/\n├── annotations/\n│   ├── eef_acc_mag_annotation.jsonl\n│   ├── eef_direction_annotation.jsonl\n│   ├── eef_velocity_annotation.jsonl\n│   ├── gripper_activity_annotation.jsonl\n│   ├── gripper_mode_annotation.jsonl\n│   └── (...)\n├── data/\n│   └── chunk-000/\n│       ├── episode_000000.parquet\n│       ├── episode_000001.parquet\n│       ├── episode_000002.parquet\n│       ├── episode_000003.parquet\n│       ├── episode_000004.parquet\n│       └── (...)\n├── meta/\n│   ├── episodes.jsonl\n│   ├── episodes_stats.jsonl\n│   ├── info.json\n│   └── tasks.jsonl\n└── videos/\n    └── chunk-000/\n        ├── observation.images.camera_head_rgb/\n        │   ├── episode_000000.mp4\n        │   ├── episode_000001.mp4\n        │   ├── episode_000002.mp4\n        │   ├── episode_000003.mp4\n        │   ├── episode_000004.mp4\n        │   └── (...)\n        ├── observation.images.camera_left_wrist_rgb/\n        │   ├── episode_000000.mp4\n        │   ├── episode_000001.mp4\n        │   ├── episode_000002.mp4\n        │   ├── episode_000003.mp4\n        │   ├── episode_000004.mp4\n        │   └── (...)\n        └── observation.images.camera_right_wrist_rgb/\n            ├── episode_000000.mp4\n            ├── episode_000001.mp4\n            ├── episode_000002.mp4\n            ├── episode_000003.mp4\n            ├── episode_000004.mp4\n            └── (...)",
     "structure": "leju_robot_hotel_services_b_qced_hardlink/\n├── annotations/\n│   ├── eef_acc_mag_annotation.jsonl\n│   ├── eef_direction_annotation.jsonl\n│   ├── eef_velocity_annotation.jsonl\n│   ├── gripper_activity_annotation.jsonl\n│   ├── gripper_mode_annotation.jsonl\n│   └── (...)\n├── data/\n│   └── chunk-000/\n│       ├── episode_000000.parquet\n│       ├── episode_000001.parquet\n│       ├── episode_000002.parquet\n│       ├── episode_000003.parquet\n│       ├── episode_000004.parquet\n│       └── (...)\n├── meta/\n│   ├── episodes.jsonl\n│   ├── episodes_stats.jsonl\n│   ├── info.json\n│   └── tasks.jsonl\n└── videos/\n    └── chunk-000/\n        ├── observation.images.camera_head_rgb/\n        │   ├── episode_000000.mp4\n        │   ├── episode_000001.mp4\n        │   ├── episode_000002.mp4\n        │   ├── episode_000003.mp4\n        │   ├── episode_000004.mp4\n        │   └── (...)\n        ├── observation.images.camera_left_wrist_rgb/\n        │   ├── episode_000000.mp4\n        │   ├── episode_000001.mp4\n        │   ├── episode_000002.mp4\n        │   ├── episode_000003.mp4\n        │   ├── episode_000004.mp4\n        │   └── (...)\n        └── observation.images.camera_right_wrist_rgb/\n            ├── episode_000000.mp4\n            ├── episode_000001.mp4\n            ├── episode_000002.mp4\n            ├── episode_000003.mp4\n            ├── episode_000004.mp4\n            └── (...)"
   },
+  "Galaxea_R1_Lite_storage_object_dish": {
+    "task_categories": [
+      "robotics"
+    ],
+    "language": [
+      "en"
+    ],
+    "tags": [
+      "RoboCOIN",
+      "LeRobot"
+    ],
+    "license": "apache-2.0",
+    "configs": [
+      {
+        "config_name": "default",
+        "data_files": "data/chunk-{id}/episode_{id}.parquet"
+      }
+    ],
+    "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\""
+      }
+    },
+    "codebase_version": "v2.1",
+    "dataset_name": "Galaxea_R1_Lite_storage_object_dish",
+    "dataset_uuid": "00000000-0000-0000-0000-000000000000",
+    "scene_type": {
+      "level1": "household",
+      "level2": "living_room",
+      "level3": null,
+      "level4": null,
+      "level5": null
+    },
+    "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.",
+    "objects": [
+      {
+        "object_name": "dish",
+        "level1": "plates",
+        "level2": "dish",
+        "level3": null,
+        "level4": null,
+        "level5": null
+      },
+      {
+        "object_name": "banana",
+        "level1": "fruits",
+        "level2": "banana",
+        "level3": null,
+        "level4": null,
+        "level5": null
+      },
+      {
+        "object_name": "bathing_in_flowers",
+        "level1": "daily_necessities",
+        "level2": "bathing_in_flowers",
+        "level3": null,
+        "level4": null,
+        "level5": null
+      },
+      {
+        "object_name": "blue_cup",
+        "level1": "cups",
+        "level2": "blue_cup",
+        "level3": null,
+        "level4": null,
+        "level5": null
+      },
+      {
+        "object_name": "blue_pot",
+        "level1": "kitchen_supplies",
+        "level2": "blue_pot",
+        "level3": null,
+        "level4": null,
+        "level5": null
+      },
+      {
+        "object_name": "toast_slices",
+        "level1": "bread",
+        "level2": "toast_slices",
+        "level3": null,
+        "level4": null,
+        "level5": null
+      },
+      {
+        "object_name": "brown_towel",
+        "level1": "towels",
+        "level2": "brown_towel",
+        "level3": null,
+        "level4": null,
+        "level5": null
+      },
+      {
+        "object_name": "can",
+        "level1": "snacks",
+        "level2": "can",
+        "level3": null,
+        "level4": null,
+        "level5": null
+      },
+      {
+        "object_name": "coke",
+        "level1": "beverages",
+        "level2": "coke",
+        "level3": null,
+        "level4": null,
+        "level5": null
+      },
+      {
+        "object_name": "potato_chips",
+        "level1": "snacks",
+        "level2": "potato_chips",
+        "level3": null,
+        "level4": null,
+        "level5": null
+      },
+      {
+        "object_name": "chocolate",
+        "level1": "snacks",
+        "level2": "chocolate",
+        "level3": null,
+        "level4": null,
+        "level5": null
+      },
+      {
+        "object_name": "compass",
+        "level1": "stationery",
+        "level2": "compass",
+        "level3": null,
+        "level4": null,
+        "level5": null
+      },
+      {
+        "object_name": "block_pillar",
+        "level1": "toys",
+        "level2": "block_pillar",
+        "level3": null,
+        "level4": null,
+        "level5": null
+      },
+      {
+        "object_name": "egg_beater",
+        "level1": "kitchen_supplies",
+        "level2": "egg_beater",
+        "level3": null,
+        "level4": null,
+        "level5": null
+      },
+      {
+        "object_name": "eraser",
+        "level1": "stationery",
+        "level2": "eraser",
+        "level3": null,
+        "level4": null,
+        "level5": null
+      },
+      {
+        "object_name": "chewing_gum",
+        "level1": "snacks",
+        "level2": "chewing_gum",
+        "level3": null,
+        "level4": null,
+        "level5": null
+      },
+      {
+        "object_name": "mentholatum_facial_cleanser",
+        "level1": "daily_chemical_products",
+        "level2": "mentholatum_facial_cleanser",
+        "level3": null,
+        "level4": null,
+        "level5": null
+      },
+      {
+        "object_name": "green_lemon",
+        "level1": "fruits",
+        "level2": "green_lemon",
+        "level3": null,
+        "level4": null,
+        "level5": null
+      },
+      {
+        "object_name": "peach",
+        "level1": "fruits",
+        "level2": "peach",
+        "level3": null,
+        "level4": null,
+        "level5": null
+      },
+      {
+        "object_name": "power_strip",
+        "level1": "electrical_control_equipment",
+        "level2": "power_strip",
+        "level3": null,
+        "level4": null,
+        "level5": null
+      },
+      {
+        "object_name": "round_bread",
+        "level1": "bread",
+        "level2": "round_bread",
+        "level3": null,
+        "level4": null,
+        "level5": null
+      },
+      {
+        "object_name": "mentholatum_facial_cleanser",
+        "level1": "daily_chemical_products",
+        "level2": "mentholatum_facial_cleanser",
+        "level3": null,
+        "level4": null,
+        "level5": null
+      },
+      {
+        "object_name": "square_building_blocks",
+        "level1": "toys",
+        "level2": "square_building_blocks",
+        "level3": null,
+        "level4": null,
+        "level5": null
+      },
+      {
+        "object_name": "tape",
+        "level1": "stationery",
+        "level2": "tape",
+        "level3": null,
+        "level4": null,
+        "level5": null
+      },
+      {
+        "object_name": "cake",
+        "level1": "bread",
+        "level2": "cake",
+        "level3": null,
+        "level4": null,
+        "level5": null
+      },
+      {
+        "object_name": "duck",
+        "level1": "doll",
+        "level2": "duck",
+        "level3": null,
+        "level4": null,
+        "level5": null
+      },
+      {
+        "object_name": "ambrosial_yogurt",
+        "level1": "beverages",
+        "level2": "ambrosial_yogurt",
+        "level3": null,
+        "level4": null,
+        "level5": null
+      }
+    ],
+    "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.",
+    "task_instruction": [
+      "use a gripper to pick the target object and place on the dish."
+    ],
+    "sub_tasks": [
+      {
+        "subtask": "Grasp the blue pot with the left gripper",
+        "subtask_index": 0
+      },
+      {
+        "subtask": "Place the back scratcher on the dish with the right gripper",
+        "subtask_index": 1
+      },
+      {
+        "subtask": "Grasp the plugboard with the left gripper",
+        "subtask_index": 2
+      },
+      {
+        "subtask": "Place the soft facial cleanser on the dish with the right gripper",
+        "subtask_index": 3
+      },
+      {
+        "subtask": "Grasp the potato chips with the right gripper",
+        "subtask_index": 4
+      },
+      {
+        "subtask": "Grasp the banana with the left gripper",
+        "subtask_index": 5
+      },
+      {
+        "subtask": "Grasp the compasses with the right gripper",
+        "subtask_index": 6
+      },
+      {
+        "subtask": "Grasp the duck toy with the left gripper",
+        "subtask_index": 7
+      },
+      {
+        "subtask": "Place the round bread on the dish with the left gripper",
+        "subtask_index": 8
+      },
+      {
+        "subtask": "Grasp the blue cup with the left gripper",
+        "subtask_index": 9
+      },
+      {
+        "subtask": "Place the compasses on the dish with the right gripper",
+        "subtask_index": 10
+      },
+      {
+        "subtask": "Place the duck toy on the dish with the right gripper",
+        "subtask_index": 11
+      },
+      {
+        "subtask": "Place the round wooden block on the dish with the right gripper",
+        "subtask_index": 12
+      },
+      {
+        "subtask": "Place the green lemon on the dish with the right gripper",
+        "subtask_index": 13
+      },
+      {
+        "subtask": "Grasp the back scratcher with the right gripper",
+        "subtask_index": 14
+      },
+      {
+        "subtask": "Grasp the square chewing gum with the left gripper",
+        "subtask_index": 15
+      },
+      {
+        "subtask": "Grasp the chocolate cake with the right gripper",
+        "subtask_index": 16
+      },
+      {
+        "subtask": "Grasp the shower sphere with the left gripper",
+        "subtask_index": 17
+      },
+      {
+        "subtask": "Place the peach on the dish with the left gripper",
+        "subtask_index": 18
+      },
+      {
+        "subtask": "Grasp the plugboard with the right gripper",
+        "subtask_index": 19
+      },
+      {
+        "subtask": "Grasp the tin with the left gripper",
+        "subtask_index": 20
+      },
+      {
+        "subtask": "Grasp the brown towel with the left gripper",
+        "subtask_index": 21
+      },
+      {
+        "subtask": "Place the brown towel on the dish with the right gripper",
+        "subtask_index": 22
+      },
+      {
+        "subtask": "Grasp the hard facial cleanser with the left gripper",
+        "subtask_index": 23
+      },
+      {
+        "subtask": "Place the plugboard on the dish with the right gripper",
+        "subtask_index": 24
+      },
+      {
+        "subtask": "Grasp the peach with the right gripper",
+        "subtask_index": 25
+      },
+      {
+        "subtask": "Grasp the brown towel with the right gripper",
+        "subtask_index": 26
+      },
+      {
+        "subtask": "Place the coke on the dish with the right gripper",
+        "subtask_index": 27
+      },
+      {
+        "subtask": "Place the banana on the dish with the left gripper",
+        "subtask_index": 28
+      },
+      {
+        "subtask": "Place the peach on the dish with the right gripper",
+        "subtask_index": 29
+      },
+      {
+        "subtask": "Grasp the hard facial cleanser with the right gripper",
+        "subtask_index": 30
+      },
+      {
+        "subtask": "Place the potato chips on the dish with the right gripper",
+        "subtask_index": 31
+      },
+      {
+        "subtask": "Grasp the peach with the left gripper",
+        "subtask_index": 32
+      },
+      {
+        "subtask": "Grasp the green lemon with the right gripper",
+        "subtask_index": 33
+      },
+      {
+        "subtask": "Place the chocolate cake on the dish with the right gripper",
+        "subtask_index": 34
+      },
+      {
+        "subtask": "Place the plugboard on the dish with the left gripper",
+        "subtask_index": 35
+      },
+      {
+        "subtask": "Grasp the bread slice with the right gripper",
+        "subtask_index": 36
+      },
+      {
+        "subtask": "Place the square chewing gum on the dish with the right gripper",
+        "subtask_index": 37
+      },
+      {
+        "subtask": "Grasp the duck toy with the right gripper",
+        "subtask_index": 38
+      },
+      {
+        "subtask": "End",
+        "subtask_index": 39
+      },
+      {
+        "subtask": "Place the blackboard erasure on the dish with the left gripper",
+        "subtask_index": 40
+      },
+      {
+        "subtask": "Grasp the blackboard erasure with the left gripper",
+        "subtask_index": 41
+      },
+      {
+        "subtask": "Grasp the coke with the left gripper",
+        "subtask_index": 42
+      },
+      {
+        "subtask": "Place the tape on the dish with the right gripper",
+        "subtask_index": 43
+      },
+      {
+        "subtask": "Place the bread slice on the dish with the right gripper",
+        "subtask_index": 44
+      },
+      {
+        "subtask": "Place the shower sphere on the dish with the right gripper",
+        "subtask_index": 45
+      },
+      {
+        "subtask": "Grasp the round wooden block with the left gripper",
+        "subtask_index": 46
+      },
+      {
+        "subtask": "Grasp the compasses with the left gripper",
+        "subtask_index": 47
+      },
+      {
+        "subtask": "Place the banana on the dish with the right gripper",
+        "subtask_index": 48
+      },
+      {
+        "subtask": "Grasp the blue pot with the right gripper",
+        "subtask_index": 49
+      },
+      {
+        "subtask": "Grasp the round bread with the right gripper",
+        "subtask_index": 50
+      },
+      {
+        "subtask": "Grasp the chocolate cake with the left gripper",
+        "subtask_index": 51
+      },
+      {
+        "subtask": "Place the square chewing gum on the dish with the left gripper",
+        "subtask_index": 52
+      },
+      {
+        "subtask": "Place the blue cup on the dish with the right gripper",
+        "subtask_index": 53
+      },
+      {
+        "subtask": "Place the hard facial cleanser on the dish with the right gripper",
+        "subtask_index": 54
+      },
+      {
+        "subtask": "Place the blue cup on the dish with the left gripper",
+        "subtask_index": 55
+      },
+      {
+        "subtask": "Grasp the tape with the right gripper",
+        "subtask_index": 56
+      },
+      {
+        "subtask": "Place the duck toy on the dish with the left gripper",
+        "subtask_index": 57
+      },
+      {
+        "subtask": "Grasp the coke with the right gripper",
+        "subtask_index": 58
+      },
+      {
+        "subtask": "Place the square wooden block on the dish with the right gripper",
+        "subtask_index": 59
+      },
+      {
+        "subtask": "Grasp the square chewing gum with the right gripper",
+        "subtask_index": 60
+      },
+      {
+        "subtask": "Place the round bread on the dish with the right gripper",
+        "subtask_index": 61
+      },
+      {
+        "subtask": "Grasp the shower sphere with the right gripper",
+        "subtask_index": 62
+      },
+      {
+        "subtask": "Place the brown towel on the dish with the left gripper",
+        "subtask_index": 63
+      },
+      {
+        "subtask": "Place the bread slice on the dish with the left gripper",
+        "subtask_index": 64
+      },
+      {
+        "subtask": "Grasp the bread slice with the left gripper",
+        "subtask_index": 65
+      },
+      {
+        "subtask": "Grasp the yogurt with the left gripper",
+        "subtask_index": 66
+      },
+      {
+        "subtask": "Place the blue pot on the dish with the left gripper",
+        "subtask_index": 67
+      },
+      {
+        "subtask": "Grasp the blackboard erasure with the right gripper",
+        "subtask_index": 68
+      },
+      {
+        "subtask": "Place the coke on the dish with the left gripper",
+        "subtask_index": 69
+      },
+      {
+        "subtask": "Place the square wooden block on the dish with the left gripper",
+        "subtask_index": 70
+      },
+      {
+        "subtask": "Place the yogurt on the dish with the left gripper",
+        "subtask_index": 71
+      },
+      {
+        "subtask": "Place the chocolate cake on the dish with the left gripper",
+        "subtask_index": 72
+      },
+      {
+        "subtask": "Place the compasses on the dish with the left gripper",
+        "subtask_index": 73
+      },
+      {
+        "subtask": "Place the round wooden block on the dish with the left gripper",
+        "subtask_index": 74
+      },
+      {
+        "subtask": "Place the chocolate on the dish with the left gripper",
+        "subtask_index": 75
+      },
+      {
+        "subtask": "Grasp the round bread with the left gripper",
+        "subtask_index": 76
+      },
+      {
+        "subtask": "Grasp the chocolate with the left gripper",
+        "subtask_index": 77
+      },
+      {
+        "subtask": "Grasp the square wooden block with the left gripper",
+        "subtask_index": 78
+      },
+      {
+        "subtask": "Grasp the blue cup with the right gripper",
+        "subtask_index": 79
+      },
+      {
+        "subtask": "Grasp the soft facial cleanser with the right gripper",
+        "subtask_index": 80
+      },
+      {
+        "subtask": "Place the shower sphere on the dish with the left gripper",
+        "subtask_index": 81
+      },
+      {
+        "subtask": "Place the tin on the dish with the left gripper",
+        "subtask_index": 82
+      },
+      {
+        "subtask": "Grasp the square wooden block with the right gripper",
+        "subtask_index": 83
+      },
+      {
+        "subtask": "Place the hard facial cleanser on the dish with the left gripper",
+        "subtask_index": 84
+      },
+      {
+        "subtask": "Place the blackboard erasure on the dish with the right gripper",
+        "subtask_index": 85
+      },
+      {
+        "subtask": "Place the blue pot on the dish with the right gripper",
+        "subtask_index": 86
+      },
+      {
+        "subtask": "Grasp the round wooden block with the right gripper",
+        "subtask_index": 87
+      },
+      {
+        "subtask": "Grasp the banana with the right gripper",
+        "subtask_index": 88
+      },
+      {
+        "subtask": "null",
+        "subtask_index": 89
+      }
+    ],
+    "atomic_actions": [
+      "grasp",
+      "pick",
+      "place"
+    ],
+    "robot_name": [
+      "Galaxea_R1_Lite"
+    ],
+    "end_effector_type": "two_finger_gripper",
+    "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.",
+    "sensor_list": [
+      "cam_head_left_rgb",
+      "cam_head_right_rgb",
+      "cam_left_wrist_rgb",
+      "cam_right_wrist_rgb"
+    ],
+    "came_info": {
+      "cam_head_left_rgb": "dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p",
+      "cam_head_right_rgb": "dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p",
+      "cam_left_wrist_rgb": "dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p",
+      "cam_right_wrist_rgb": "dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p"
+    },
+    "depth_enabled": false,
+    "coordinate_definition": "right-hand-frame",
+    "joint_rotation_dim": "radian",
+    "end_rotation_dim": "end_rotation_dim",
+    "end_translation_dim": "end_translation_dim",
+    "annotations": [
+      "eef_acc_mag_annotation.jsonl",
+      "eef_direction_annotation.jsonl",
+      "eef_velocity_annotation.jsonl",
+      "gripper_activity_annotation.jsonl",
+      "gripper_mode_annotation.jsonl",
+      "scene_annotations.jsonl",
+      "subtask_annotations.jsonl"
+    ],
+    "statistics": {
+      "total_episodes": 101,
+      "total_frames": 26346,
+      "fps": 30,
+      "total_tasks": 90,
+      "total_videos": 404,
+      "total_chunks": 1,
+      "chunks_size": 1000,
+      "state_dim": 14,
+      "action_dim": 14,
+      "camera_views": 4,
+      "dataset_size": "993.15 MB"
+    },
+    "frame_num": 26346,
+    "dataset_size": "993.15 MB",
+    "data_structure": "Galaxea_R1_Lite_storage_object_dish_qced_hardlink/\n|-- annotations\n|   |-- eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n|   |-- eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n|   |-- gripper_mode_annotation.jsonl\n|   |-- scene_annotations.jsonl\n|   `-- subtask_annotations.jsonl\n|-- data\n|   `-- chunk-000\n|       |-- episode_000000.parquet\n|       |-- episode_000001.parquet\n|       |-- episode_000002.parquet\n|       |-- episode_000003.parquet\n|       |-- episode_000004.parquet\n|       |-- episode_000005.parquet\n|       |-- episode_000006.parquet\n|       |-- episode_000007.parquet\n|       |-- episode_000008.parquet\n|       |-- episode_000009.parquet\n|       |-- episode_000010.parquet\n|       `-- episode_000011.parquet\n|       `-- ... (89 more entries)\n|-- meta\n|   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n|   |-- info.json\n|   `-- tasks.jsonl\n|-- videos\n|   `-- chunk-000\n|       |-- observation.images.cam_head_left_rgb\n|       |-- observation.images.cam_head_right_rgb\n|       |-- observation.images.cam_left_wrist_rgb\n|       `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md",
+    "splits": {
+      "train": "0:100"
+    },
+    "features": {
+      "observation.images.cam_head_left_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_head_right_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": [
+          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_right_wrist_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.state": {
+        "dtype": "float32",
+        "shape": [
+          14
+        ],
+        "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",
+          "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",
+          "left_gripper_open",
+          "right_gripper_open"
+        ]
+      },
+      "action": {
+        "dtype": "float32",
+        "shape": [
+          14
+        ],
+        "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",
+          "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",
+          "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,
+        "shape": [
+          5
+        ],
+        "dtype": "int32"
+      },
+      "scene_annotation": {
+        "names": null,
+        "shape": [
+          1
+        ],
+        "dtype": "int32"
+      },
+      "eef_sim_pose_state": {
+        "names": [
+          "left_eef_pos_x",
+          "left_eef_pos_y",
+          "left_eef_pos_z",
+          "left_eef_rot_x",
+          "left_eef_rot_y",
+          "left_eef_rot_z",
+          "right_eef_pos_x",
+          "right_eef_pos_y",
+          "right_eef_pos_z",
+          "right_eef_rot_x",
+          "right_eef_rot_y",
+          "right_eef_rot_z"
+        ],
+        "shape": [
+          12
+        ],
+        "dtype": "float32"
+      },
+      "eef_sim_pose_action": {
+        "names": [
+          "left_eef_pos_x",
+          "left_eef_pos_y",
+          "left_eef_pos_z",
+          "left_eef_rot_x",
+          "left_eef_rot_y",
+          "left_eef_rot_z",
+          "right_eef_pos_x",
+          "right_eef_pos_y",
+          "right_eef_pos_z",
+          "right_eef_rot_x",
+          "right_eef_rot_y",
+          "right_eef_rot_z"
+        ],
+        "shape": [
+          12
+        ],
+        "dtype": "float32"
+      },
+      "eef_direction_state": {
+        "names": [
+          "left_eef_direction",
+          "right_eef_direction"
+        ],
+        "shape": [
+          2
+        ],
+        "dtype": "int32"
+      },
+      "eef_direction_action": {
+        "names": [
+          "left_eef_direction",
+          "right_eef_direction"
+        ],
+        "shape": [
+          2
+        ],
+        "dtype": "int32"
+      },
+      "eef_velocity_state": {
+        "names": [
+          "left_eef_velocity",
+          "right_eef_velocity"
+        ],
+        "shape": [
+          2
+        ],
+        "dtype": "int32"
+      },
+      "eef_velocity_action": {
+        "names": [
+          "left_eef_velocity",
+          "right_eef_velocity"
+        ],
+        "shape": [
+          2
+        ],
+        "dtype": "int32"
+      },
+      "eef_acc_mag_state": {
+        "names": [
+          "left_eef_acc_mag",
+          "right_eef_acc_mag"
+        ],
+        "shape": [
+          2
+        ],
+        "dtype": "int32"
+      },
+      "eef_acc_mag_action": {
+        "names": [
+          "left_eef_acc_mag",
+          "right_eef_acc_mag"
+        ],
+        "shape": [
+          2
+        ],
+        "dtype": "int32"
+      },
+      "gripper_open_scale_state": {
+        "names": [
+          "left_gripper_open_scale",
+          "right_gripper_open_scale"
+        ],
+        "shape": [
+          2
+        ],
+        "dtype": "float32"
+      },
+      "gripper_open_scale_action": {
+        "names": [
+          "left_gripper_open_scale",
+          "right_gripper_open_scale"
+        ],
+        "shape": [
+          2
+        ],
+        "dtype": "float32"
+      },
+      "gripper_mode_state": {
+        "names": [
+          "left_gripper_mode",
+          "right_gripper_mode"
+        ],
+        "shape": [
+          2
+        ],
+        "dtype": "int32"
+      },
+      "gripper_mode_action": {
+        "names": [
+          "left_gripper_mode",
+          "right_gripper_mode"
+        ],
+        "shape": [
+          2
+        ],
+        "dtype": "int32"
+      },
+      "gripper_activity_state": {
+        "names": [
+          "left_gripper_activity",
+          "right_gripper_activity"
+        ],
+        "shape": [
+          2
+        ],
+        "dtype": "int32"
+      },
+      "gripper_activity_action": {
+        "names": [
+          "left_gripper_activity",
+          "right_gripper_activity"
+        ],
+        "shape": [
+          2
+        ],
+        "dtype": "int32"
+      }
+    },
+    "authors": {
+      "contributed_by": [
+        {
+          "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)"
+        }
+      ]
+    },
+    "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.",
+    "homepage": "https://flagopen.github.io/RoboCOIN/",
+    "paper": "https://arxiv.org/abs/2511.17441",
+    "repository": "https://github.com/FlagOpen/RoboCOIN",
+    "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.",
+    "support_info": "For technical support, please open an issue on our GitHub repository.",
+    "license_details": "apache-2.0",
+    "citation_bibtex": "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n  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},\n  journal={arXiv preprint arXiv:2511.17441},\n  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n",
+    "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n",
+    "version_info": "Initial Release",
+    "data_path": "data/chunk-{id}/episode_{id}.parquet",
+    "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}",
+    "video_url": "videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4"
+  },
   "Agilex_Cobot_Magic_close_drawer_upper": {
     "task_categories": [
       "robotics"

info/data_index.json

@@ -259,6 +259,7 @@
     "G1edu-u3_stack_bowls",
     "G1edu-u3_tray_storage_lemon_a",
     "Galaxea_R1_Lite_pour_solid",
+    "Galaxea_R1_Lite_storage_object_dish",
     "Galaxea_R1_Lite_storage_object_yellow_basket",
     "Galbot_g1_fold_clothe_b",
     "Galbot_g1_fold_clothe_c",
@@ -453,5 +454,5 @@
     "leju_robot_pass_the_cleaner_d",
     "leju_robot_pass_the_cleaner_e"
   ],
-  "count": 452
+  "count": 453
 }

info/exclude.json

@@ -1,12 +1,54 @@
 [
-    "AIRBOT_MMK2_place_the_sponge_and_wet_wipes",
-    "AIRBOT_MMK2_the_cup_is_placed_in_the_book",
-    "Cobot_Magic_plate_storage_toy",
-    "Cobot_Magic_take_down_the_cube_block",
-    "leju_robot_box_storage_parcel_d",
-    "leju_robot_box_storage_parcel_j",
-    "leju_robot_box_storage_parcel_i",
-    "leju_robot_box_storage_parcel_k",
-    "leju_robot_box_storage_parcel_l",
-    "G1edu-u3_basket_storage_apple_b"
-]
+    "AIRBOT_MMK2_beauty_sponge_and_cake_to_place",
+    "AIRBOT_MMK2_building_block_storage",
+    "AgiBot-g1_battery_storage_c",
+    "AgiBot-g1_box_storage_part_a",
+    "AgiBot-g1_box_storage_tool",
+    "AgiBot-g1_mobile_accessory_storage_box_d",
+    "AgiBot-g1_picks_up_parts_b",
+    "Cobot_Magic_classification_of_fruits_and_vegetables_a",
+    "Cobot_Magic_desktop_organization",
+    "Cobot_Magic_drawer_storage_mineral_water",
+    "Cobot_Magic_food_packaging",
+    "Cobot_Magic_make_hamburger",
+    "Cobot_Magic_move_the_ball_and_the_cube_block",
+    "Cobot_Magic_open_the_shoebox",
+    "Cobot_Magic_pour_water_a",
+    "Cobot_Magic_vase_storage_flower",
+    "G1edu-u3_bowl_storage_grape_singletry",
+    "G1edu-u3_food_storage",
+    "G1edu-u3_plate_storage_doll",
+    "G1edu-u3_pullBowl_storage_bread_b",
+    "Galbot_g1_fold_clothe_b",
+    "Galbot_g1_fold_clothe_c",
+    "Galbot_g1_fold_clothe_e",
+    "Galbot_g1_steamer_storage_baozi_a",
+    "Galbot_g1_steamer_storage_baozi_b",
+    "Galbot_g1_steamer_storage_baozi_c",
+    "Galbot_g1_steamer_storage_baozi_d",
+    "Galbot_g1_steamer_storage_baozi_e",
+    "Galbot_g1_steamer_storage_baozi_f",
+    "Galbot_g1_steamer_storage_baozi_g",
+    "Galbot_g1_steamer_storage_baozi_h",
+    "Galbot_g1_steamer_storage_baozi_i",
+    "Galbot_g1_steamer_storage_baozi_j",
+    "R1_Lite_cook_a_meal",
+    "R1_Lite_drawer_storage_hair_dryer",
+    "R1_Lite_move_the_position_of_the_coffee_capsule",
+    "R1_Lite_move_the_position_of_the_soda",
+    "R1_Lite_open_and_close_microwave_oven",
+    "R1_Lite_pick_up_and_store_items",
+    "R1_Lite_put_slippers_into_floor_standing_shoe_cabinet",
+    "R1_Lite_take_clothes_out_of_the_washing_machine",
+    "R1_Lite_throw_out_the_trash",
+    "RMC-AIDA-L_box_up_down",
+    "RMC-AIDA-L_fold_shirt",
+    "Split_aloha_fold_the_pants",
+    "Split_aloha_pour_tea",
+    "Tianqin_A2_place_the_paper_box",
+    "leju_robot_box_storage_parcel_f",
+    "leju_robot_hotel_services_ah",
+    "leju_robot_moving_parts_o",
+    "leju_robot_moving_parts_s",
+    "leju_robot_moving_parts_t"
+]

videos/Galaxea_R1_Lite_storage_object_dish.mp4

@@ -0,0 +1,3 @@
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+size 1452882