Use the => operator inside a bin definition to specify a sequence.
covergroup cg_fsm @(posedge clk);
cp_state: coverpoint state {
// Did we go from IDLE (0) directly to BUSY (1)?
bins idle_to_busy = (0 => 1);
// Did we go from BUSY (1) back to IDLE (0)?
bins busy_to_idle = (1 => 0);
}
endgroup