Datasets:

RoboCOIN
/

Galbot_G1_load_floor_trash_1

Tasks:

Robotics

Languages:

English

ArXiv:

Tags:

RoboCOIN

LeRobot

License:

Dataset card Files Files and versions

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Dataset Viewer

The dataset viewer is not available for this dataset.

Cannot get the config names for the dataset.

Error code:   ConfigNamesError
Exception:    FileNotFoundError
Message:      Couldn't find any data file at /src/services/worker/RoboCOIN/Galbot_G1_load_floor_trash_1. Couldn't find 'RoboCOIN/Galbot_G1_load_floor_trash_1' on the Hugging Face Hub either: FileNotFoundError: Unable to find 'hf://datasets/RoboCOIN/Galbot_G1_load_floor_trash_1@7300582e755875e759241f57a5f96f3963204e4c/data/chunk-{id}/episode_{id}.parquet' with any supported extension ['.csv', '.tsv', '.json', '.jsonl', '.ndjson', '.parquet', '.geoparquet', '.gpq', '.arrow', '.txt', '.conll', '.conllu', '.tar', '.xml', '.hdf5', '.h5', '.eval', '.lance', '.tsfile', '.blp', '.bmp', '.dib', '.bufr', '.cur', '.pcx', '.dcx', '.dds', '.ps', '.eps', '.fit', '.fits', '.fli', '.flc', '.ftc', '.ftu', '.gbr', '.gif', '.grib', '.png', '.apng', '.jp2', '.j2k', '.jpc', '.jpf', '.jpx', '.j2c', '.icns', '.ico', '.im', '.iim', '.tif', '.tiff', '.jfif', '.jpe', '.jpg', '.jpeg', '.mpg', '.mpeg', '.msp', '.pcd', '.pxr', '.pbm', '.pgm', '.ppm', '.pnm', '.psd', '.bw', '.rgb', '.rgba', '.sgi', '.ras', '.tga', '.icb', '.vda', '.vst', '.webp', '.wmf', '.emf', '.xbm', '.xpm', '.BLP', '.BMP', '.DIB', '.BUFR', '.CUR', '.PCX', '.DCX', '.DDS', '.PS', '.EPS', '.FIT', '.FITS', '.FLI', '.FLC', '.FTC', '.FTU', '.GBR', '.GIF', '.GRIB', '.PNG', '.APNG', '.JP2', '.J2K', '.JPC', '.JPF', '.JPX', '.J2C', '.ICNS', '.ICO', '.IM', '.IIM', '.TIF', '.TIFF', '.JFIF', '.JPE', '.JPG', '.JPEG', '.MPG', '.MPEG', '.MSP', '.PCD', '.PXR', '.PBM', '.PGM', '.PPM', '.PNM', '.PSD', '.BW', '.RGB', '.RGBA', '.SGI', '.RAS', '.TGA', '.ICB', '.VDA', '.VST', '.WEBP', '.WMF', '.EMF', '.XBM', '.XPM', '.aiff', '.au', '.avr', '.caf', '.flac', '.htk', '.svx', '.mat4', '.mat5', '.mpc2k', '.ogg', '.paf', '.pvf', '.raw', '.rf64', '.sd2', '.sds', '.ircam', '.voc', '.w64', '.wav', '.nist', '.wavex', '.wve', '.xi', '.mp3', '.opus', '.3gp', '.3g2', '.avi', '.asf', '.flv', '.mp4', '.mov', '.m4v', '.mkv', '.webm', '.f4v', '.wmv', '.wma', '.ogm', '.mxf', '.nut', '.AIFF', '.AU', '.AVR', '.CAF', '.FLAC', '.HTK', '.SVX', '.MAT4', '.MAT5', '.MPC2K', '.OGG', '.PAF', '.PVF', '.RAW', '.RF64', '.SD2', '.SDS', '.IRCAM', '.VOC', '.W64', '.WAV', '.NIST', '.WAVEX', '.WVE', '.XI', '.MP3', '.OPUS', '.3GP', '.3G2', '.AVI', '.ASF', '.FLV', '.MP4', '.MOV', '.M4V', '.MKV', '.WEBM', '.F4V', '.WMV', '.WMA', '.OGM', '.MXF', '.NUT', '.glb', '.ply', '.stl', '.GLB', '.PLY', '.STL', '.pdf', '.PDF', '.nii', '.NII', '.zip', '.idx', '.manifest', '.txn']
Traceback:    Traceback (most recent call last):
                File "/src/services/worker/src/worker/job_runners/dataset/config_names.py", line 67, in compute_config_names_response
                  config_names = get_dataset_config_names(
                      path=dataset,
                      token=hf_token,
                  )
                File "/usr/local/lib/python3.14/site-packages/datasets/inspect.py", line 161, in get_dataset_config_names
                  dataset_module = dataset_module_factory(
                      path,
                  ...<4 lines>...
                      **download_kwargs,
                  )
                File "/usr/local/lib/python3.14/site-packages/datasets/load.py", line 1213, in dataset_module_factory
                  raise FileNotFoundError(
                  ...<2 lines>...
                  ) from None
              FileNotFoundError: Couldn't find any data file at /src/services/worker/RoboCOIN/Galbot_G1_load_floor_trash_1. Couldn't find 'RoboCOIN/Galbot_G1_load_floor_trash_1' on the Hugging Face Hub either: FileNotFoundError: Unable to find 'hf://datasets/RoboCOIN/Galbot_G1_load_floor_trash_1@7300582e755875e759241f57a5f96f3963204e4c/data/chunk-{id}/episode_{id}.parquet' with any supported extension ['.csv', '.tsv', '.json', '.jsonl', '.ndjson', '.parquet', '.geoparquet', '.gpq', '.arrow', '.txt', '.conll', '.conllu', '.tar', '.xml', '.hdf5', '.h5', '.eval', '.lance', '.tsfile', '.blp', '.bmp', '.dib', '.bufr', '.cur', '.pcx', '.dcx', '.dds', '.ps', '.eps', '.fit', '.fits', '.fli', '.flc', '.ftc', '.ftu', '.gbr', '.gif', '.grib', '.png', '.apng', '.jp2', '.j2k', '.jpc', '.jpf', '.jpx', '.j2c', '.icns', '.ico', '.im', '.iim', '.tif', '.tiff', '.jfif', '.jpe', '.jpg', '.jpeg', '.mpg', '.mpeg', '.msp', '.pcd', '.pxr', '.pbm', '.pgm', '.ppm', '.pnm', '.psd', '.bw', '.rgb', '.rgba', '.sgi', '.ras', '.tga', '.icb', '.vda', '.vst', '.webp', '.wmf', '.emf', '.xbm', '.xpm', '.BLP', '.BMP', '.DIB', '.BUFR', '.CUR', '.PCX', '.DCX', '.DDS', '.PS', '.EPS', '.FIT', '.FITS', '.FLI', '.FLC', '.FTC', '.FTU', '.GBR', '.GIF', '.GRIB', '.PNG', '.APNG', '.JP2', '.J2K', '.JPC', '.JPF', '.JPX', '.J2C', '.ICNS', '.ICO', '.IM', '.IIM', '.TIF', '.TIFF', '.JFIF', '.JPE', '.JPG', '.JPEG', '.MPG', '.MPEG', '.MSP', '.PCD', '.PXR', '.PBM', '.PGM', '.PPM', '.PNM', '.PSD', '.BW', '.RGB', '.RGBA', '.SGI', '.RAS', '.TGA', '.ICB', '.VDA', '.VST', '.WEBP', '.WMF', '.EMF', '.XBM', '.XPM', '.aiff', '.au', '.avr', '.caf', '.flac', '.htk', '.svx', '.mat4', '.mat5', '.mpc2k', '.ogg', '.paf', '.pvf', '.raw', '.rf64', '.sd2', '.sds', '.ircam', '.voc', '.w64', '.wav', '.nist', '.wavex', '.wve', '.xi', '.mp3', '.opus', '.3gp', '.3g2', '.avi', '.asf', '.flv', '.mp4', '.mov', '.m4v', '.mkv', '.webm', '.f4v', '.wmv', '.wma', '.ogm', '.mxf', '.nut', '.AIFF', '.AU', '.AVR', '.CAF', '.FLAC', '.HTK', '.SVX', '.MAT4', '.MAT5', '.MPC2K', '.OGG', '.PAF', '.PVF', '.RAW', '.RF64', '.SD2', '.SDS', '.IRCAM', '.VOC', '.W64', '.WAV', '.NIST', '.WAVEX', '.WVE', '.XI', '.MP3', '.OPUS', '.3GP', '.3G2', '.AVI', '.ASF', '.FLV', '.MP4', '.MOV', '.M4V', '.MKV', '.WEBM', '.F4V', '.WMV', '.WMA', '.OGM', '.MXF', '.NUT', '.glb', '.ply', '.stl', '.GLB', '.PLY', '.STL', '.pdf', '.PDF', '.nii', '.NII', '.zip', '.idx', '.manifest', '.txn']

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Galbot_G1_load_floor_trash_1

Dataset Description

This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.

Task Preview

View Video Directly

Overview

Total Episodes: 100
Total Frames: 229017
FPS: 30
Dataset Size: 11.05 GB
Robot Name: Galbot_G1
End-Effector Type: two_finger_end_effector
Teleoperation Type: master_arm
Sensors: cam_right_head_rgb, cam_left_head_rgb, cam_right_wrist_rgb, cam_left_wrist_rgb
Camera Information: cam_right_head_rgb; cam_left_head_rgb; cam_right_wrist_rgb; cam_left_wrist_rgb
Scene: Household->Living Room
Objects: (black), (brown), (red), (white), (white), (other), (brown), (yellow), (green)
Task Description: Pick up the trash bin and place the garbage on the floor into it.

Primary Task Instruction

Pick up the trash bin and place the garbage on the floor into it.

Robot Configuration

Robot Name: Galbot_G1
Codebase Version: v2.1
End-Effector Type: two_finger_end_effector
Teleoperation Type: master_arm

Scene and Objects

Scene Type

Household->Living Room

Objects

(black)
(brown)
(red)
(white)
(white)
(other)
(brown)
(yellow)
(green)

Task Descriptions

Standardized Task Description: Pick up the trash bin and place the garbage on the floor into it.
Operation Type: mobile_dual_arm
Environment Type: real_world

Sub-Tasks

This dataset includes 1 distinct subtasks:

Pick up the trash bin and place the garbage on the floor into it.

Atomic Actions

move
grasp
place

Hardware and Sensors

Sensors

cam_right_head_rgb
cam_left_head_rgb
cam_right_wrist_rgb
cam_left_wrist_rgb

Camera Information

cam_right_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, pix_fmt=yuv420p
cam_left_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, pix_fmt=yuv420p
cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, pix_fmt=yuv420p
cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=libx264, pix_fmt=yuv420p

Coordinate System

Definition: right-hand-frame

Dimensions & Units

Joint Rotation: radian
End-Effector Rotation: radian
End-Effector Translation: meter
Base Translation: meter

Dataset Statistics

Metric	Value
Total Episodes	100
Total Frames	229017
Total Tasks	1
Total Videos	400
Total Chunks	1
Chunk Size	10000
FPS	30
State Dimensions	38
Action Dimensions	38
Camera Views	4
Dataset Size	11.05 GB

Data Splits

The dataset is organized into the following splits:

Training: Episodes 0:99

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 10000

Data Structure (Tree)

Galbot_G1_load_floor_trash_1_qced_hardlink/
|-- annotations
|   |-- eef_acc_mag_annotation.jsonl
|   |-- eef_direction_annotation.jsonl
|   |-- eef_velocity_annotation.jsonl
|   |-- gripper_activity_annotation.jsonl
|   `-- gripper_mode_annotation.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
|       `-- ... (88 more entries)
|-- meta
|   |-- episodes.jsonl
|   |-- episodes_stats.jsonl
|   |-- info.json
|   `-- tasks.jsonl
|-- videos
|   `-- chunk-000
|       |-- observation.images.cam_left_head_rgb
|       |-- observation.images.cam_left_wrist_rgb
|       |-- observation.images.cam_right_head_rgb
|       `-- observation.images.cam_right_wrist_rgb
|-- info.yaml
`-- README.md

Camera Views

This dataset includes 4 camera views: cam_right_head_rgb, cam_left_head_rgb, cam_right_wrist_rgb, cam_left_wrist_rgb.

Features (Full YAML)

action:
  dtype: float32
  names:
  - 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
  - right_gripper_open
  - 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
  - left_gripper_open
  - torso_joint_1_rad
  - torso_joint_2_rad
  - torso_joint_3_rad
  - torso_joint_4_rad
  - torso_joint_5_rad
  - head_joint_1_rad
  - head_joint_2_rad
  - chassis_pos_1
  - chassis_pos_2
  - chassis_pos_3
  - chassis_pos_4
  - chassis_vel_1
  - chassis_vel_2
  - chassis_vel_3
  - chassis_vel_4
  - base_pos_x_m
  - base_pos_y_m
  - base_orient_quat_z
  - base_orient_quat_w
  - base_vel_x_m_s
  - base_vel_y_m_s
  - base_vel_angular_z_rad_s
  shape:
  - 38
observation.state:
  dtype: float32
  names:
  - 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
  - right_gripper_open
  - 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
  - left_gripper_open
  - torso_joint_1_rad
  - torso_joint_2_rad
  - torso_joint_3_rad
  - torso_joint_4_rad
  - torso_joint_5_rad
  - head_joint_1_rad
  - head_joint_2_rad
  - chassis_pos_1
  - chassis_pos_2
  - chassis_pos_3
  - chassis_pos_4
  - chassis_vel_1
  - chassis_vel_2
  - chassis_vel_3
  - chassis_vel_4
  - base_pos_x_m
  - base_pos_y_m
  - base_orient_quat_z
  - base_orient_quat_w
  - base_vel_x_m_s
  - base_vel_y_m_s
  - base_vel_angular_z_rad_s
  shape:
  - 38
observation.images.cam_right_head_rgb:
  dtype: video
  shape:
  - 480
  - 640
  - 3
  names:
  - height
  - width
  - channels
  info:
    video.fps: 30
    video.height: 480
    video.width: 640
    video.channels: 3
    video.codec: libx264
    video.pix_fmt: yuv420p
    video.is_depth_map: false
    has_audio: false
observation.images.cam_left_head_rgb:
  dtype: video
  shape:
  - 480
  - 640
  - 3
  names:
  - height
  - width
  - channels
  info:
    video.fps: 30
    video.height: 480
    video.width: 640
    video.channels: 3
    video.codec: libx264
    video.pix_fmt: yuv420p
    video.is_depth_map: false
    has_audio: false
observation.images.cam_right_wrist_rgb:
  dtype: video
  shape:
  - 480
  - 640
  - 3
  names:
  - height
  - width
  - channels
  info:
    video.fps: 30
    video.height: 480
    video.width: 640
    video.channels: 3
    video.codec: libx264
    video.pix_fmt: yuv420p
    video.is_depth_map: false
    has_audio: false
observation.images.cam_left_wrist_rgb:
  dtype: video
  shape:
  - 480
  - 640
  - 3
  names:
  - height
  - width
  - channels
  info:
    video.fps: 30
    video.height: 480
    video.width: 640
    video.channels: 3
    video.codec: libx264
    video.pix_fmt: yuv420p
    video.is_depth_map: false
    has_audio: false
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
gripper_open_scale_state:
  names:
  - left_gripper_open_scale
  - right_gripper_open_scale
  dtype: float64
  shape:
  - 2
gripper_open_scale_action:
  names:
  - left_gripper_open_scale
  - right_gripper_open_scale
  dtype: float64
  shape:
  - 2
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
  dtype: float32
  shape:
  - 12
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
  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_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
gripper_activity_action:
  names:
  - left_gripper_activity
  - right_gripper_activity
  dtype: int32
  shape:
  - 2

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

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.

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:

@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

Downloads last month: 70

Total file size:

11.9 GB

Paper for RoboCOIN/Galbot_G1_load_floor_trash_1

RoboCOIN: An Open-Sourced Bimanual Robotic Data COllection for INtegrated Manipulation

Paper • 2511.17441 • Published Nov 21, 2025