Galaxea_R1_Lite_storage_object_brown_bowl

# Galaxea_R1_Lite_storage_object_brown_bowl ## Dataset Description This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot. ## Task Preview <video src="videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4" controls width="640"></video> [View Video Directly](videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4) ### Overview - **Total Episodes:** 101 - **Total Frames:** 23706 - **FPS:** 30 - **Dataset Size:** 909.34 MB - **Robot Name:** `Galaxea_R1_Lite` - **End-Effector Type:** `two_finger_gripper` - **Teleoperation Type:** `Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.` - **Sensors:** `cam_head_left_rgb`, `cam_head_right_rgb`, `cam_left_wrist_rgb`, `cam_right_wrist_rgb` - **Camera Information:** cam_head_left_rgb; cam_head_right_rgb; cam_left_wrist_rgb; cam_right_wrist_rgb - **Scene:** `household->living_room` - **Objects:** `brown_bowl(unknown)`, `banana(unknown)`, `bathing_in_flowers(unknown)`, `blue_cup(unknown)`, `blue_pot(unknown)`, `toast_slices(unknown)`, `brown_towel(unknown)`, `can(unknown)`, `coke(slim_can)(unknown)`, `potato_chips(unknown)`, `chocolate(unknown)`, `compass(unknown)`, `block_pillar(unknown)`, `egg_beater(unknown)`, `eraser(unknown)`, `chewing_gum(unknown)`, `mentholatum_facial_cleanser(unknown)`, `green_lemon(unknown)`, `peach(unknown)`, `power_strip(unknown)`, `round_bread(unknown)`, `mentholatum_facial_cleanser(unknown)`, `square_building_blocks(unknown)`, `tape(unknown)`, `cake(unknown)`, `duck(unknown)`, `ambrosial_yogurt(unknown)` - **Task Description:** use a gripper to pick the target object and place on the brown bowl. ### Primary Task Instruction > use a gripper to pick the target object and place on the brown bowl. ### Robot Configuration - **Robot Name:** `Galaxea_R1_Lite` - **Codebase Version:** `v2.1` - **End-Effector Type:** `two_finger_gripper` - **Teleoperation Type:** `Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.` ## Scene and Objects ### Scene Type `household->living_room` ### Objects - `brown_bowl(unknown)` - `banana(unknown)` - `bathing_in_flowers(unknown)` - `blue_cup(unknown)` - `blue_pot(unknown)` - `toast_slices(unknown)` - `brown_towel(unknown)` - `can(unknown)` - `coke(slim_can)(unknown)` - `potato_chips(unknown)` - `chocolate(unknown)` - `compass(unknown)` - `block_pillar(unknown)` - `egg_beater(unknown)` - `eraser(unknown)` - `chewing_gum(unknown)` - `mentholatum_facial_cleanser(unknown)` - `green_lemon(unknown)` - `peach(unknown)` - `power_strip(unknown)` - `round_bread(unknown)` - `mentholatum_facial_cleanser(unknown)` - `square_building_blocks(unknown)` - `tape(unknown)` - `cake(unknown)` - `duck(unknown)` - `ambrosial_yogurt(unknown)` ## Task Descriptions - **Standardized Task Description:** `use a gripper to pick the target object and place on the brown bowl.` - **Operation Type:** `Due to some reasons, this dataset temporarily cannot provide the operation type information.` - **Environment Type:** `Due to some reasons, this dataset temporarily cannot provide the environment type information.` ### Sub-Tasks This dataset includes 84 distinct subtasks: 1. **Grasp the blue pot with the left gripper** (Index: 0) 2. **Place the coke in the bowl with the left gripper** (Index: 1) 3. **Grasp the plugboard with the left gripper** (Index: 2) 4. **Place the back scratcher in the bowl with the right gripper** (Index: 3) 5. **Place the plugboard in the bowl with the right gripper** (Index: 4) 6. **Place the compasses in the bowl with the right gripper** (Index: 5) 7. **Grasp the potato chips with the right gripper** (Index: 6) 8. **Grasp the banana with the left gripper** (Index: 7) 9. **Place the square chewing gum in the bowl with the right gripper** (Index: 8) 10. **Place the round wooden block in the bowl with the right gripper** (Index: 9) 11. **Place the tin in the bowl with the left gripper** (Index: 10) 12. **Grasp the compasses with the right gripper** (Index: 11) 13. **Grasp the duck toy with the left gripper** (Index: 12) 14. **Place the potato chips in the bowl with the left gripper** (Index: 13) 15. **Grasp the blue cup with the left gripper** (Index: 14) 16. **Place the chocolate cake in the bowl with the right gripper** (Index: 15) 17. **Grasp the back scratcher with the right gripper** (Index: 16) 18. **Place the square wooden block in the bowl with the right gripper** (Index: 17) 19. **Grasp the chocolate cake with the right gripper** (Index: 18) 20. **Grasp the shower sphere with the left gripper** (Index: 19) 21. **Grasp the plugboard with the right gripper** (Index: 20) 22. **Grasp the yogurt with the right gripper** (Index: 21) 23. **Grasp the tin with the left gripper** (Index: 22) 24. **Grasp the brown towel with the left gripper** (Index: 23) 25. **Place the square wooden block in the bowl with the left gripper** (Index: 24) 26. **Grasp the hard facial cleanser with the left gripper** (Index: 25) 27. **Grasp the brown towel with the right gripper** (Index: 26) 28. **Place the potato chips in the bowl with the right gripper** (Index: 27) 29. **Place the duck toy in the bowl with the left gripper** (Index: 28) 30. **Grasp the hard facial cleanser with the right gripper** (Index: 29) 31. **Place the green lemon in the bowl with the right gripper** (Index: 30) 32. **Grasp the peach with the left gripper** (Index: 31) 33. **Place the peach in the bowl with the left gripper** (Index: 32) 34. **Place the soft facial cleanser in the bowl with the right gripper** (Index: 33) 35. **Place the shower sphere in the bowl with the left gripper** (Index: 34) 36. **Place the banana in the bowl with the right gripper** (Index: 35) 37. **Place the shower sphere in the bowl with the right gripper** (Index: 36) 38. **Grasp the green lemon with the right gripper** (Index: 37) 39. **Place the brown towel in the bowl with the right gripper** (Index: 38) 40. **Place the blackboard erasure in the bowl with the left gripper** (Index: 39) 41. **Grasp the potato chips with the left gripper** (Index: 40) 42. **Grasp the duck toy with the right gripper** (Index: 41) 43. **End** (Index: 42) 44. **Place the blue cup in the bowl with the right gripper** (Index: 43) 45. **Grasp the blackboard erasure with the left gripper** (Index: 44) 46. **Grasp the coke with the left gripper** (Index: 45) 47. **Grasp the round wooden block with the left gripper** (Index: 46) 48. **Place the round wooden block in the bowl with the left gripper** (Index: 47) 49. **Place the banana in the bowl with the left gripper** (Index: 48) 50. **Place the chocolate cake in the bowl with the left gripper** (Index: 49) 51. **Place the tape in the bowl with the right gripper** (Index: 50) 52. **Grasp the compasses with the left gripper** (Index: 51) 53. **Place the chocolate in the bowl with the left gripper** (Index: 52) 54. **Grasp the blue pot with the right gripper** (Index: 53) 55. **Place the hard facial cleanser in the bowl with the left gripper** (Index: 54) 56. **Grasp the round bread with the right gripper** (Index: 55) 57. **Grasp the chocolate cake with the left gripper** (Index: 56) 58. **Place the hard facial cleanser in the bowl with the right gripper** (Index: 57) 59. **Place the round bread in the bowl with the right gripper** (Index: 58) 60. **Grasp the tape with the right gripper** (Index: 59) 61. **Place the tape in the bowl with the left gripper** (Index: 60) 62. **Grasp the coke with the right gripper** (Index: 61) 63. **Grasp the tape with the left gripper** (Index: 62) 64. **Place the duck toy in the bowl with the right gripper** (Index: 63) 65. **Grasp the square chewing gum with the right gripper** (Index: 64) 66. **Place the blue pot in the bowl with the left gripper** (Index: 65) 67. **Grasp the shower sphere with the right gripper** (Index: 66) 68. **Place the plugboard in the bowl with the left gripper** (Index: 67) 69. **Place the coke in the bowl with the right gripper** (Index: 68) 70. **Place the round bread in the bowl with the left gripper** (Index: 69) 71. **Place the blue cup in the bowl with the left gripper** (Index: 70) 72. **Place the blue pot in the bowl with the right gripper** (Index: 71) 73. **Grasp the round bread with the left gripper** (Index: 72) 74. **Grasp the chocolate with the left gripper** (Index: 73) 75. **Grasp the square wooden block with the left gripper** (Index: 74) 76. **Place the yogurt in the bowl with the right gripper** (Index: 75) 77. **Grasp the blue cup with the right gripper** (Index: 76) 78. **Grasp the soft facial cleanser with the right gripper** (Index: 77) 79. **Place the compasses in the bowl with the left gripper** (Index: 78) 80. **Grasp the square wooden block with the right gripper** (Index: 79) 81. **Place the brown towel in the bowl with the left gripper** (Index: 80) 82. **Grasp the round wooden block with the right gripper** (Index: 81) 83. **Grasp the banana with the right gripper** (Index: 82) 84. **null** (Index: 83) ### Atomic Actions - `grasp` - `pick` - `place` ## Hardware and Sensors ### Sensors - `cam_head_left_rgb` - `cam_head_right_rgb` - `cam_left_wrist_rgb` - `cam_right_wrist_rgb` ### Camera Information - `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 ### Coordinate System - **Definition:** `right-hand-frame` ### Dimensions & Units - **Joint Rotation:** `radian` - **End-Effector Rotation:** `end_rotation_dim` - **End-Effector Translation:** `end_translation_dim` ## Dataset Statistics | Metric | Value | |--------|-------| | **Total Episodes** | 101 | | **Total Frames** | 23706 | | **Total Tasks** | 84 | | **Total Videos** | 404 | | **Total Chunks** | 1 | | **Chunk Size** | 1000 | | **FPS** | 30 | | **State Dimensions** | 14 | | **Action Dimensions** | 14 | | **Camera Views** | 4 | | **Dataset Size** | 909.34 MB | ## Data Splits The dataset is organized into the following splits: - **Training**: Episodes 0:100 ## 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-{id}/episode_{id}.parquet` - **Video Path Pattern**: `videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}` - **Chunking**: Data is organized into 1 chunk(s) of size 1000 ### Data Structure (Tree) ``` Galaxea_R1_Lite_storage_object_brown_bowl_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 ``` ## Camera Views This dataset includes 4 camera views: `cam_head_left_rgb`, `cam_head_right_rgb`, `cam_left_wrist_rgb`, `cam_right_wrist_rgb`. ## Features (Full YAML) ```yaml 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 ``` ## Available Annotations This dataset includes rich annotations to support diverse learning approaches: - `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` ## Dataset Tags - `RoboCOIN` - `LeRobot` ## Authors ### Contributors This dataset is contributed by:-RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) ### Annotators No annotator information available. ## Links - **Homepage:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/) - **Paper:** [https://arxiv.org/abs/2511.17441](https://arxiv.org/abs/2511.17441) - **Repository:** [https://github.com/FlagOpen/RoboCOIN](https://github.com/FlagOpen/RoboCOIN) ## Contact and Support For questions, issues, or feedback regarding this dataset, please contact us. ### Support For technical support, please open an issue on our GitHub repository. ## License apache-2.0 ## Citation If you use this dataset in your research, please cite: ```bibtex @article{robocoin, title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation}, author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao}, journal={arXiv preprint arXiv:2511.17441}, url = {https://arxiv.org/abs/2511.17441}, year={2025}, } ``` ### Additional References If you use this dataset, please also consider citing: LeRobot Framework: https://github.com/huggingface/lerobot ## Version Information Initial Release