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数据集 · ARIO team (hosted on OpenI, Peng Cheng Laboratory)

ARIO (All Robots In One)

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Mixed real + simulation + converted open-source data; hosted at https://openi.pcl.ac.cn/ARIO/ARIO_Dataset (loaded). Total size not stated; commercial_ok null because converted sub-datasets keep their own licenses.

基本事实

机构
ARIO team (hosted on OpenI, Peng Cheng Laboratory)
形态标签
双臂 · 移动操作 · 轮式 · 人形 · 单臂 · 多本体 · 仿真
本体（按原文）
Cobot Magic (AgileX Robotics, bimanual mobile manipulation platform) · Cloud Ginger XR-1 (wheeled humanoid cloud robot) · UR5 (MuJoCo simulation) · embodiments of converted open-source datasets (Open X-Embodiment, RH20T)
轨迹数
3,033,188
小时数
待核实
帧数
待核实
任务
321064
场景
table and indoor scenes (open domains, multi-room, living room, kitchen)
模态
rgb · depth · language · tactile · audio · state
格式
custom (ARIO unified format)
许可证
CC-BY 4.0 or MIT for ARIO-collected real data and ARIO-simulated data; converted datasets follow their original licenses
商用
待核实
发布
2024-08
体积
待核实
来源 · 8 条来源
embodiments https://arxiv.org/html/2408.10899 官方页面 · 抓取 2026-09-18 · 尚未存快照 Collection platforms Cobot Magic and Cloud Ginger XR-1; simulation with Habitat, MuJoCo (UR5) and SeaWave; OpenI page lists UR5, Cloud Ginger XR-1, Cobot Magic
episodes https://arxiv.org/html/2408.10899 官方页面 · 抓取 2026-09-18 · 尚未存快照 3,033,188 episodes total (2,326,438 converted / 3,662 real / 703,088 simulated); abstract: 'approximately 3 million episodes'
tasks https://arxiv.org/abs/2408.10899 官方页面 · 抓取 2026-09-18 · 尚未存快照 '258 series and 321,064 tasks'
scenes https://arxiv.org/html/2408.10899 官方页面 · 抓取 2026-09-18 · 尚未存快照 'table and multiple indoor scenes (open domains, multi-room, living room, and kitchen)'
modalities https://arxiv.org/html/2408.10899 官方页面 · 抓取 2026-09-18 · 尚未存快照 'five sensory modalities—images, 3D data, sound, text, and tactile information'; OpenI page: RGB-D, tactile, audio, joint states
format https://imaei.github.io/project_pages/ario/ 官方页面 · 抓取 2026-09-18 · 尚未存快照 'a unified data format'
license https://imaei.github.io/project_pages/ario/ 官方页面 · 抓取 2026-09-18 · 尚未存快照 'real robot data collected by our team or materials generated by the simulation platform developed by us, are licensed under the Creative Commons Attribution 4.0 International License (CC-BY) or MIT'; OpenI: converted datasets follow original licenses
release_date https://arxiv.org/abs/2408.10899 官方页面 · 抓取 2026-09-18 · 尚未存快照 Submitted 20 Aug 2024

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