ARIO (All Robots In One)

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.

Facts

Organisation: ARIO team (hosted on OpenI, Peng Cheng Laboratory)
Form tags: dual arm · mobile manipulator · wheeled · humanoid · single arm · multi-embodiment · simulation
Embodiments (as stated): 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)
Episodes: 3,033,188
Hours: unverified
Frames: unverified
Tasks: 321064
Scenes: table and indoor scenes (open domains, multi-room, living room, kitchen)
Modalities: rgb · depth · language · tactile · audio · state
Format: custom (ARIO unified format)
Licence: CC-BY 4.0 or MIT for ARIO-collected real data and ARIO-simulated data; converted datasets follow their original licenses
Commercial use: unverified
Released: 2024-08
Size: unverified

Sources · 8 sources

embodiments https://arxiv.org/html/2408.10899 Official page · Fetched 2026-09-18 · No snapshot stored yet 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 Official page · Fetched 2026-09-18 · No snapshot stored yet 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 Official page · Fetched 2026-09-18 · No snapshot stored yet '258 series and 321,064 tasks'

scenes https://arxiv.org/html/2408.10899 Official page · Fetched 2026-09-18 · No snapshot stored yet 'table and multiple indoor scenes (open domains, multi-room, living room, and kitchen)'

modalities https://arxiv.org/html/2408.10899 Official page · Fetched 2026-09-18 · No snapshot stored yet '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/ Official page · Fetched 2026-09-18 · No snapshot stored yet 'a unified data format'

license https://imaei.github.io/project_pages/ario/ Official page · Fetched 2026-09-18 · No snapshot stored yet '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 Official page · Fetched 2026-09-18 · No snapshot stored yet Submitted 20 Aug 2024

Related bodies in the index

Matched by stated robot names or form; a match means the form is covered, not that a model was trained on it.

Unitree G1 Unitree · humanoid
Unitree H1 Unitree · humanoid
AgiBot Genie G1 AgiBot · dual_arm_wheeled
AgileX Piper arm AgileX Robotics · single arm
SO-101 open-source community (LeRobot) · single arm
Franka FR3 / Panda Franka Robotics · single arm
Fourier GR-2 Fourier Intelligence · humanoid
WidowX 250 S Trossen Robotics · single arm
Google Robot（Everyday Robots） Google / Everyday Robots · single arm
ALOHA 2 / Cobot Magic (dual-arm) Trossen Robotics / AgileX · dual arm
Galaxea R1 Pro Galaxea · dual_arm_wheeled
Franka Emika Panda Franka Robotics · single arm

Clear direction, grounded judgement.