datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
AgiBotWorld2026
AgiBot World 2026
Real-World Embodied Intelligence Dataset
Overview
As robotics research advances into real-world scenarios, the demand for authentic, high-quality data has become increasingly urgent. Following AGIBOT WORLD's "ImageNet moment," we now release the AGIBOT WORLD 2026 dataset. Built upon massive real-world scenes, it systematically spans pivotal research directions in embodied intelligence, designed to power the next generation of… See the full description on the dataset page: https://huggingface.co/datasets/agibot-world/AgiBotWorld2026.AgiBotWorld-Beta
Key Features 🔑
1 million+ trajectories from 100 robots, with a total duration of 2976.4 hours.
100+ real-world scenarios across 5 target domains.
Cutting-edge hardware: visual tactile sensors / 6-DoF dexterous hand / mobile dual-arm robots
200+ types of tasks:
Contact-rich manipulation
Long-horizon planning
Multi-robot collaboration
87 types of Atomic Skills, including Tie, OpenJar, Peel, Sweep etc.
Your… See the full description on the dataset page: https://huggingface.co/datasets/agibot-world/AgiBotWorld-Beta.agibot_alpha_v30This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "AgiBot_A2D",
"total_episodes": 28122,
"total_frames": 47613574,
"total_tasks": 30,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:28122"},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/cadene/agibot_alpha_v30.AgiBotWorld-Alpha
⚠️Important Notice !!!
Dear Users,
The Alpha Dataset has been updated as follows:
Frame Loss Data Removal: Several episodes with frame loss issues have been removed. For the complete list of removed episode IDs, please refer to this document.
Changes in Episode Count: The updated Alpha Dataset retains the original 36 tasks. The new version has been enriched with additional interactive objects, extending the total duration from 474.12… See the full description on the dataset page: https://huggingface.co/datasets/agibot-world/AgiBotWorld-Alpha.AgiBotDigitalWorld
Key Features 🔑
1 million+ steps of enhanced digital twins of long-horizon real-world tasks from Agibot World.
500,000+ steps of atomic tasks automatically generated by agents.
180+ classes of objects.
5 classes of scenes.
News 🌍
[2025/2/24] AgiBot Digital World released on Huggingface. Download Link
TODO List 📅
AgiBot Digital World: More high-quality simulation data, including atomic skill task data and digital twin-enhanced data… See the full description on the dataset page: https://huggingface.co/datasets/agibot-world/AgiBotDigitalWorld.AgiBotWorldChallenge-2026
AgiBot World Challenge 2026 - Datasets
Dear participants,
We are excited to announce that the datasets for AgiBot World Challenge 2026 have been updated.
Track 1: Reasoning2Action
The Reasoning to Action track evaluates models' capabilities in reasoning and action prediction, comprising both online and onsite phases. This track encompasses 10 progressively challenging tasks, ranging from basic to complex, including dual-arm collaboration, long-horizon operations, and… See the full description on the dataset page: https://huggingface.co/datasets/agibot-world/AgiBotWorldChallenge-2026.GenieSimAssets
Key Features 🔑
5000+ objects 1:1 replicated from real-life
Get started 🔥
Download the Assets
To download the full assets, please refer to the official Hugging Face/Modelscope documentation.
Assets Structure
Folder hierarchy
assets
├── background # Background environments
│ └── ...
├── robot # Robot models
│ ├── G1_120s
│ ├── G1_omnipicker
│ ├── G2_omnipicker… See the full description on the dataset page: https://huggingface.co/datasets/agibot-world/GenieSimAssets.agibotworld_alpha_headcam_rfmAgiBot-g1_box_storage_cardboard_box_a
AgiBot-g1_box_storage_cardboard_box_a
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: ruantong_a2d
| Codebase Version: v2.1
End-Effector Type: two_finger_gripper
🏠 Scene Types
This dataset covers the following scene types:
home
🤖 Atomic Actions
This dataset includes the following atomic actions:
place
pick
grasp
📊 Dataset Statistics
Metric
Value
Total… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/AgiBot-g1_box_storage_cardboard_box_a.AgiBotWorldChallenge-2025
AgiBot World Challenge 2025 - Datasets
Dear participants,
We are excited to announce that the datasets for both tracks of AgiBot World Challenge 2025 have been updated.
Changelog
Previous versions remain available in the branch version name.
v1.1.0(11-08-2025): Added 50 new trajectories per Manipulation task and synced all datasets to ModelScope.
v1.0.1 (27-06-2025): Fixed an Issue with the annotations in the simulation data of the "open drawer and store items" task.… See the full description on the dataset page: https://huggingface.co/datasets/agibot-world/AgiBotWorldChallenge-2025.AgiBot-g1_picks_up_parts_b
AgiBot-g1_picks_up_parts_b
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: ruantong_a2d
| Codebase Version: v2.1
End-Effector Type: two_finger_gripper
🏠 Scene Types
This dataset covers the following scene types:
factory
🤖 Atomic Actions
This dataset includes the following atomic actions:
place
pick
grasp
📊 Dataset Statistics
Metric
Value
Total Episodes… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/AgiBot-g1_picks_up_parts_b.AgiBot-g1_box_storage_part_a
AgiBot-g1_box_storage_part_a
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: ruantong_a2d
| Codebase Version: v2.1
End-Effector Type: two_finger_gripper
🏠 Scene Types
This dataset covers the following scene types:
factory
🤖 Atomic Actions
This dataset includes the following atomic actions:
place
pick
grasp
📊 Dataset Statistics
Metric
Value
Total Episodes… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/AgiBot-g1_box_storage_part_a.AgiBot-g1_left_capture_part
AgiBot-g1_left_capture_part
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: ruantong_a2d
| Codebase Version: v2.1
End-Effector Type: two_finger_gripper
🏠 Scene Types
This dataset covers the following scene types:
factory
🤖 Atomic Actions
This dataset includes the following atomic actions:
grasp
📊 Dataset Statistics
Metric
Value
Total Episodes
464
Total… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/AgiBot-g1_left_capture_part.AgiBot-g1_picks_up_battery_b
AgiBot-g1_picks_up_battery_b
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: ruantong_a2d
| Codebase Version: v2.1
End-Effector Type: two_finger_gripper
🏠 Scene Types
This dataset covers the following scene types:
factory
🤖 Atomic Actions
This dataset includes the following atomic actions:
place
pick
grasp
📊 Dataset Statistics
Metric
Value
Total Episodes… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/AgiBot-g1_picks_up_battery_b.AgiBot-g1_box_storage_cardboard_box_c
AgiBot-g1_box_storage_cardboard_box_c
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: ruantong_a2d
| Codebase Version: v2.1
End-Effector Type: two_finger_gripper
🏠 Scene Types
This dataset covers the following scene types:
home
🤖 Atomic Actions
This dataset includes the following atomic actions:
place
pick
grasp
📊 Dataset Statistics
Metric
Value
Total… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/AgiBot-g1_box_storage_cardboard_box_c.AgiBotWorld-Beta_G1_task_504_Supplement_supermarket_snacks
agibot_task_504
This dataset converts the AgiBot format uniformly into LeRobot V3.0.
Dataset Statistics
robot_name: G1
end_effector: 夹爪
task: 补充超市零食part_1
total_episodes: 2355
total_tasks: 1
size: 342G
Dataset Structure
├── data
│ └── chunk-xxx
│ ├── file-xxx.parquet
├── meta
│ ├── episodes
│ │ └── chunk-xxx
│ │ └── file-xxx.parquet
│ ├── info.json
│ ├── stats.json
│ └── tasks.parquet
└── videos
├──… See the full description on the dataset page: https://huggingface.co/datasets/BAAI-DataCube/AgiBotWorld-Beta_G1_task_504_Supplement_supermarket_snacks.AgiBotWorld-Beta_G1_task_362_Folded_shorts
agibot_task_362
This dataset converts the AgiBot format uniformly into LeRobot V3.0.
Dataset Statistics
robot_name: G1
end_effector: 夹爪
task: 褶皱的短裤part_1
total_episodes: 8233
total_tasks: 1
size: 385G
Dataset Structure
├── data
│ └── chunk-xxx
│ ├── file-xxx.parquet
├── meta
│ ├── episodes
│ │ └── chunk-xxx
│ │ └── file-xxx.parquet
│ ├── info.json
│ ├── stats.json
│ └── tasks.parquet
└── videos
├──… See the full description on the dataset page: https://huggingface.co/datasets/BAAI-DataCube/AgiBotWorld-Beta_G1_task_362_Folded_shorts.AgiBotWorld-Beta_G1_task_508_Put_the_items_in_the_bag
agibot_task_508
This dataset converts the AgiBot format uniformly into LeRobot V3.0.
Dataset Statistics
robot_name: G1
end_effector: 夹爪
task: 把物品放在袋子里。
total_episodes: 2344
total_tasks: 1
size: 165G
Dataset Structure
├── data
│ └── chunk-xxx
│ ├── file-xxx.parquet
├── meta
│ ├── episodes
│ │ └── chunk-xxx
│ │ └── file-xxx.parquet
│ ├── info.json
│ ├── stats.json
│ └── tasks.parquet
└── videos
├──… See the full description on the dataset page: https://huggingface.co/datasets/BAAI-DataCube/AgiBotWorld-Beta_G1_task_508_Put_the_items_in_the_bag.AgiBotWorld-Beta_G1_task_497_Restocking_at_the_supermarket
agibot_task_497
This dataset converts the AgiBot format uniformly into LeRobot V3.0.
Dataset Statistics
robot_name: G1
end_effector: 夹爪
task: 在超市补货
total_episodes: 1486
total_tasks: 1
size: 172G
Dataset Structure
├── data
│ └── chunk-xxx
│ ├── file-xxx.parquet
├── meta
│ ├── episodes
│ │ └── chunk-xxx
│ │ └── file-xxx.parquet
│ ├── info.json
│ ├── stats.json
│ └── tasks.parquet
└── videos
├── observation.images.back_left_fisheye… See the full description on the dataset page: https://huggingface.co/datasets/BAAI-DataCube/AgiBotWorld-Beta_G1_task_497_Restocking_at_the_supermarket.AgiBotWorld-Beta_G1_task_507_prepare_breakfast
agibot_task_507
This dataset converts the AgiBot format uniformly into LeRobot V3.0.
Dataset Statistics
robot_name: G1
end_effector: 夹爪
task: 准备早餐
total_episodes: 822
total_tasks: 1
size: 95G
Dataset Structure
├── data
│ └── chunk-xxx
│ ├── file-xxx.parquet
├── meta
│ ├── episodes
│ │ └── chunk-xxx
│ │ └── file-xxx.parquet
│ ├── info.json
│ ├── stats.json
│ └── tasks.parquet
└── videos
├── observation.images.back_left_fisheye… See the full description on the dataset page: https://huggingface.co/datasets/BAAI-DataCube/AgiBotWorld-Beta_G1_task_507_prepare_breakfast.AgiBotWorld-Beta_G1_task_510_Stack_the_dishcloth_on_the_kitchen_countertop
agibot_task_510
This dataset converts the AgiBot format uniformly into LeRobot V3.0.
Dataset Statistics
robot_name: G1
end_effector: 夹爪
task: 把洗碗布叠在厨房台面上
total_episodes: 1465
total_tasks: 1
size: 102G
Dataset Structure
├── data
│ └── chunk-xxx
│ ├── file-xxx.parquet
├── meta
│ ├── episodes
│ │ └── chunk-xxx
│ │ └── file-xxx.parquet
│ ├── info.json
│ ├── stats.json
│ └── tasks.parquet
└── videos
├──… See the full description on the dataset page: https://huggingface.co/datasets/BAAI-DataCube/AgiBotWorld-Beta_G1_task_510_Stack_the_dishcloth_on_the_kitchen_countertop.AgiBot-g1_picks_up_battery_a
AgiBot-g1_picks_up_battery_a
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: ruantong_a2d
| Codebase Version: v2.1
End-Effector Type: two_finger_gripper
🏠 Scene Types
This dataset covers the following scene types:
factory
🤖 Atomic Actions
This dataset includes the following atomic actions:
place
pick
grasp
📊 Dataset Statistics
Metric
Value
Total Episodes… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/AgiBot-g1_picks_up_battery_a.agibotworld_alpha_rfmAgiBotWorld-Beta_G1_task_599_Fold_up_the_shorts
agibot_task_599
This dataset converts the AgiBot format uniformly into LeRobot V3.0.
Dataset Statistics
robot_name: G1
end_effector: 夹爪
task: 把短裤叠起来part_1
total_episodes: 3057
total_tasks: 1
size: 175G
Dataset Structure
├── data
│ └── chunk-xxx
│ ├── file-xxx.parquet
├── meta
│ ├── episodes
│ │ └── chunk-xxx
│ │ └── file-xxx.parquet
│ ├── info.json
│ ├── stats.json
│ └── tasks.parquet
└── videos
├──… See the full description on the dataset page: https://huggingface.co/datasets/BAAI-DataCube/AgiBotWorld-Beta_G1_task_599_Fold_up_the_shorts.AgiBotWorld-Beta_G1_task_525_Placing_tableware_in_the_restaurant
agibot_task_525
This dataset converts the AgiBot format uniformly into LeRobot V3.0.
Dataset Statistics
robot_name: G1
end_effector: 夹爪
task: 在餐厅摆放餐具
total_episodes: 2267
total_tasks: 1
size: 155G
Dataset Structure
├── data
│ └── chunk-xxx
│ ├── file-xxx.parquet
├── meta
│ ├── episodes
│ │ └── chunk-xxx
│ │ └── file-xxx.parquet
│ ├── info.json
│ ├── stats.json
│ └── tasks.parquet
└── videos
├──… See the full description on the dataset page: https://huggingface.co/datasets/BAAI-DataCube/AgiBotWorld-Beta_G1_task_525_Placing_tableware_in_the_restaurant.AgiBotWorld-Beta_G1_task_527_Arrange_the_sofa
agibot_task_527
This dataset converts the AgiBot format uniformly into LeRobot V3.0.
Dataset Statistics
robot_name: G1
end_effector: 夹爪
task: 安排沙发
total_episodes: 1429
total_tasks: 1
size: 189G
Dataset Structure
├── data
│ └── chunk-xxx
│ ├── file-xxx.parquet
├── meta
│ ├── episodes
│ │ └── chunk-xxx
│ │ └── file-xxx.parquet
│ ├── info.json
│ ├── stats.json
│ └── tasks.parquet
└── videos
├── observation.images.back_left_fisheye… See the full description on the dataset page: https://huggingface.co/datasets/BAAI-DataCube/AgiBotWorld-Beta_G1_task_527_Arrange_the_sofa.AgiBot-g1_picks_up_cardboard_box
AgiBot-g1_picks_up_cardboard_box
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: ruantong_a2d
| Codebase Version: v2.1
End-Effector Type: two_finger_gripper
🏠 Scene Types
This dataset covers the following scene types:
home
🤖 Atomic Actions
This dataset includes the following atomic actions:
place
pick
grasp
📊 Dataset Statistics
Metric
Value
Total… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/AgiBot-g1_picks_up_cardboard_box.agibot_dexhandagibotworld-beta-rgb-lance
AgiBotWorld-Beta (LeRobot lance format)
agibot-world/AgiBotWorld-Beta
converted to the LeRobot lance storage format, uploaded in coordination with the AgiBot team.
160,454 episodes, 286,556,463 frames, 8 RGB cameras (AV1, copied from the source without re-encoding),
state[20] and action[22] at 30 fps.
Read it in place, no download needed (lerobot with the lancedb extra):
from lerobot.datasets import LeRobotDataset
ds = LeRobotDataset("lance-format/agibotworld-beta-rgb-lance")… See the full description on the dataset page: https://huggingface.co/datasets/lance-format/agibotworld-beta-rgb-lance.AgiBot-g1_storage_item_e
AgiBot-g1_storage_item_e
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: ruantong_a2d
| Codebase Version: v2.1
End-Effector Type: two_finger_gripper
🏠 Scene Types
This dataset covers the following scene types:
factory
🤖 Atomic Actions
This dataset includes the following atomic actions:
grasp
place
pick
📊 Dataset Statistics
Metric
Value
Total Episodes
507… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/AgiBot-g1_storage_item_e.