AgiBot-g1_box_storage_cardboard_box_c
收藏AgiBot-g1_box_storage_cardboard_box_c 数据集概述
基本信息
- 数据集名称: AgiBot-g1_box_storage_cardboard_box_c
- 许可证: Apache-2.0
- 支持语言: 英语、中文
- 任务类别: 机器人技术
- 标签: RoboCOIN, LeRobot
- 帧数范围: 100K-1M
技术规格
- 机器人类型: AgiBot-g1
- 代码库版本: v2.1
- 末端执行器类型: 两指夹爪
- 帧率: 30 FPS
- 数据集大小: 109.0GB
场景与动作
场景类型
- 家庭环境
原子动作
- 放置
- 拾取
- 抓取
数据集统计
| 指标 | 数值 |
|---|---|
| 总情节数 | 476 |
| 总帧数 | 230771 |
| 总任务数 | 1 |
| 总视频数 | 3808 |
| 总分块数 | 1 |
| 分块大小 | 1000 |
任务描述
主要任务
使用机械臂拾取纸箱并将其放入纸盒中
子任务
- 无
- 拾取鼠标和电源线纸盒
- 将鼠标和电源线纸盒放入容器中
数据采集
相机视图
- 包含8个相机视图
- 所有视频使用AV1编解码器
- 帧率统一为30 FPS
视觉观测
- observation.images.cam_high_rgb: 720×1280分辨率
- observation.images.cam_left_wrist_rgb: 480×848分辨率
- observation.images.cam_right_wrist_rgb: 480×848分辨率
- observation.images.cam_back_left_fisheye_rgb: 1536×1920分辨率
- observation.images.cam_back_right_fisheye_rgb: 1536×1920分辨率
- observation.images.cam_high_center_fisheye_rgb: 1536×1920分辨率
- observation.images.cam_high_left_fisheye_rgb: 1536×1920分辨率
- observation.images.cam_high_right_fisheye_rgb: 1536×1920分辨率
注释信息
子任务注释
- 细粒度子任务分割和标注
场景注释
- 语义场景分类和描述
末端执行器注释
- 运动方向分类
- 速度幅度分类
- 加速度幅度分类
夹爪注释
- 开/关状态标注
- 活动状态分类
附加特征
- 末端执行器仿真姿态（6D姿态信息）
- 夹爪开口尺度（连续测量）
数据分割
- 训练集: 情节0-475
文件结构
AgiBot-g1_box_storage_cardboard_box_c_qced_hardlink/ ├── annotations/ ├── data/ │ └── chunk-000/ ├── meta/ └── videos/ └── chunk-000/ ├── observation.images.cam_back_left_fisheye_rgb/ ├── observation.images.cam_back_right_fisheye_rgb/ ├── observation.images.cam_high_center_fisheye_rgb/ ├── observation.images.cam_high_left_fisheye_rgb/ ├── observation.images.cam_high_rgb/ ├── observation.images.cam_high_right_fisheye_rgb/ ├── observation.images.cam_left_wrist_rgb/ └── observation.images.cam_right_wrist_rgb/
相关链接
- 主页: https://flagopen.github.io/RoboCOIN/
- 论文: https://arxiv.org/abs/2511.17441
- 代码库: https://github.com/FlagOpen/RoboCOIN
- 问题反馈: https://github.com/FlagOpen/RoboCOIN/issues
引用信息
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} }
