AgiBot DigitalWorld (+ AgiBot World Challenge datasets)

Simulation (digital twins of AgiBot World tasks); scale stated in steps not episodes. Challenge sets on HF (all cc-by-nc-sa-4.0): AgiBotWorldChallenge-2025 (3.1 TB; Manipulation track 10 tasks with 'hundreds of trajectories per task' sim+real via Genie Sim; World Model track 'over 30,000' training trajectories; v1.0.0 25-06-2025, v1.1.0 11-08-2025), AgiBotWorldChallenge-202509, AgiBotWorldChallenge-2026. Real AgiBot World Alpha 92,214 / Beta 1,003,672 trajectories in LeRobot format (GitHub README).

基本事实

机构: AgiBot (AgiBot World / OpenDriveLab)
形态标签: 双臂 · 仿真
本体（按原文）: AgiBot dual-arm robot, 34 DoF (2 DoF head, 2 DoF waist, 7 DoF per arm, 8 DoF per gripper)
轨迹数: 待核实
小时数: 待核实
帧数: 待核实
任务: long-horizon digital-twin tasks + agent-generated atomic tasks (count not stated); 180+ object classes
场景: 5
模态: rgb · depth · state
格式: custom (MP4 RGB + PNG depth + HDF5 proprioception + JSON task info); conversion scripts to LeRobot v2.0 provided
许可证: CC BY-NC-SA 4.0
商用: 不允许（原文）
发布: 2025-02
体积: 7610 GB

来源 · 9 条来源

embodiments https://huggingface.co/datasets/agibot-world/AgiBotDigitalWorld/raw/main/README.md 官方页面 · 抓取 2026-09-18 · 尚未存快照 Dual-arm robot with 34 DoF (2 head, 2 waist, 7 per arm, 8 per gripper)

tasks https://huggingface.co/datasets/agibot-world/AgiBotDigitalWorld/raw/main/README.md 官方页面 · 抓取 2026-09-18 · 尚未存快照 '1 million+ steps of enhanced digital twins of long-horizon real-world tasks' and '500,000+ steps of atomic tasks automatically generated by agents'; '180+ classes of objects'

scenes https://huggingface.co/datasets/agibot-world/AgiBotDigitalWorld/raw/main/README.md 官方页面 · 抓取 2026-09-18 · 尚未存快照 '5 classes of scenes'

modalities https://huggingface.co/datasets/agibot-world/AgiBotDigitalWorld/raw/main/README.md 官方页面 · 抓取 2026-09-18 · 尚未存快照 RGB video, depth (PNG), proprioceptive state (joint positions/velocities, end-effector pose, gripper, odometry)

format https://huggingface.co/datasets/agibot-world/AgiBotDigitalWorld/raw/main/README.md 官方页面 · 抓取 2026-09-18 · 尚未存快照 HDF5 proprio + JSON task info + video/depth folders; LeRobot v2.0 conversion scripts

license https://huggingface.co/datasets/agibot-world/AgiBotDigitalWorld 官方页面 · 抓取 2026-09-18 · 尚未存快照 'CC BY-NC-SA 4.0' (README); GitHub README also states CC BY-NC-SA 4.0; ModelScope API metadata lists 'Apache License 2.0'

mirror_url https://modelscope.cn/api/v1/datasets/agibot_world/AgiBotDigitalWorld 官方页面 · 抓取 2026-09-18 · 尚未存快照 ModelScope API confirms Name 'AgiBotDigitalWorld', Namespace 'agibot_world', storage ~576.6 GB

release_date https://huggingface.co/datasets/agibot-world/AgiBotDigitalWorld 官方页面 · 抓取 2026-09-18 · 尚未存快照 Released on Hugging Face '2025/2/24'

size_gb https://huggingface.co/datasets/agibot-world/AgiBotDigitalWorld 官方页面 · 抓取 2026-09-18 · 尚未存快照 HF card '7.61 TB'

索引里的相关本体

按写明的机器人名或形态匹配；匹配只说明形态覆盖，不代表某个模型在其上训练过。

智元精灵 G1 智元机器人 · dual_arm_wheeled
ALOHA 2 / Cobot Magic（双臂） Trossen Robotics / 松灵 AgileX · 双臂
Galaxea R1 Pro 星海图（Galaxea） · dual_arm_wheeled

方向清晰，判断有据。