---
pretty_name: AgiBot World
size_categories:
- 100K<n<2000K
task_categories:
- other
language:
- en
tags:
- real-world
- dual-arm
- Robotics manipulation
---

<img src="assets/agibot_world.gif" alt="Image Alt Text" width="70%" style="display: block; margin-left: auto; margin-right: auto;" />


# Key Features 🔑
- **One million+** trajectories from 100 robots.
- **100+ real-world scenarios** across 5 target domains.
- **Tasks involving:**
    - Fine-grained manipulation
    - Long-horizon planning
    - Dual-robot collaboration
- **Cutting-edge hardware:**
    - Visual tactile sensors
    - 6-DoF Dexterous hand / Gripper
    - Mobile dual-arm robots with whole-body control


# Platform Release 📅
- **AgiBot World Beta**: ~1,000,000 trajectories of high-quality robot data coming by the end of Q1 2025.
- **AgiBot World Colloseo**:Comprehensive platform launching in 2025.
- **2025 AgiBot World Challenge**

# Dataset Application Form 📑
- **https://docs.google.com/forms/d/e/1FAIpQLSeO1Qw_kJujVYnUoIMSGp9Mbo2c1gvis1aOoFNY1oHq6hXHWA/viewform?usp=header.**

# Get started 🔥
- [Key Features 🔑](#key-features-)
- [Platform Release 📅](#platform-release-)
- [Dataset Application Form 📑](#dataset-application-form-)
- [Get started 🔥](#get-started-)
  - [Dataset Structure](#dataset-structure)
    - [data format](#data-format)
    - [json file format](#json-file-format)
    - [h5 file format](#h5-file-format)
    - [Terms](#terms)
      - [Common Fields](#common-fields)
    - [Value shapes and ranges](#value-shapes-and-ranges)
  - [Dataset Preprocess](#dataset-preprocess)
- [License and Citation](#license-and-citation)

## Dataset Structure
### data format
```
data
├── task_info
│   ├── task_327.json
│   ├── task_352.json
│   └── ...
├── observations
│   ├── 327[task_id]
│   │   ├── 648642[episode_id]
│   │   │   ├── depth
│   │   │   ├── videos
│   │   ├── 648649
│   │   │   └── ...
│   │   └── ...
│   ├── 352[task_id]
│   │   ├── 648544[episode_id]
│   │   │   ├── depth
│   │   │   ├── videos
│   │   ├── 648564
│   │   │   └── ...
│   └── ...
├── parameters
│   ├── 327[task_id]
│   │   ├── 648642[episode_id]
│   │   │   ├── camera
│   │   ├── 648649
│   │   │   └── camera
│   │   └── ...
│   └── 352[task_id]
│       ├── 648544[episode_id]
│       │   ├── camera
│       └── 648564
│       │    └── camera
|       └── ...
├── proprio_stats
│   ├── 327[task_id]
│   │   ├── 648642[episode_id]
│   │   │   ├── proprio_stats.h5
│   │   ├── 648649
│   │   │   └── proprio_stats.h5
│   │   └── ...
│   ├── 352[task_id]
│   │   ├── 648544[episode_id]
│   │   │   ├── proprio_stats.h5
│   │   └── 648564
│   │    └── proprio_stats.h5
│   └── ...
```
### json file format
In the `task_[id].json` file, we store the basic information of every episode along with the language instructions.Here, we will further explain several specific keywords.
- **error_lable**: This key is used to determine whether the entire episode includes error recovery. The currently available values are "None" and "Failure recovery."
- **action_config**: The content corresponding to this key is a list composed of all **action slices** from the episode. Each action slice includes a start and end time, the corresponding atomic skill, and the language instruction.
- **key_frame**: The content corresponding to this key consists of annotations for keyframes, including the start and end times of the keyframes and detailed descriptions.
```
[ {"episode_id": 649078,
   "task_id": 327,
   "task_name": "Picking items in Supermarket",
   "init_scene_text": "The robot is in front of the fruit shelf in the supermarket.",
   "lable_info":{
    "error_lable":"Failure recovery"
    "action_config":[
       {"start_frame": 0,
        "end_frame": 435,
        "action_text": "Pick up onion from the shelf."
        "skill": "Pick"
       },
       {"start_frame": 435,
        "end_frame": 619,
        "action_text": "Place onion into the plastic bag in the shopping cart."
        "skill": "Place"
       },
       ...
    ]
    "key_frame": [
      {"start": 0,
       "end": 435,
       "comment": "Failure recovery"
      }
    ]
},
...
]
```
### h5 file format
In the `proprio_stats.h5` file, we store all the robot's proprioceptive data.
```
|-- timestamp
|-- state
    |-- effector
        |-- force
        |-- position
    |-- end
        |-- angular
        |-- orientation
        |-- position
        |-- velocity
        |-- wrench
    |-- head
        |-- effort
        |-- position
        |-- velocity
    |-- joint
        |-- current_value
        |-- effort
        |-- position
        |-- velocity
    |-- robot
        |-- orientation
        |-- orientation_drift
        |-- position
        |-- position_drift
    |-- waist
        |-- effort
        |-- position
        |-- velocity
|-- action
    |-- effector
        |-- force
        |-- index
        |-- position
    |-- end
        |-- orientation
        |-- position
    |-- head
        |-- effort
        |-- position
        |-- velocity
    |-- joint
        |-- effort
        |-- index
        |-- position
        |-- velocity
    |-- robot
        |-- index
        |-- orientation
        |-- position
        |-- velocity
    |-- waist
        |-- effort
        |-- position
        |-- velocity
```
### Terms
**State and action**
1. State
State refers to the monitoring information of different sensors and actuators.
2. Action
Action refers to the instructions sent to the hardware abstraction layer, where controller would respond to these instructions. Therefore, there is a difference between the issued instructions and the actual executed state.
**Actuators**
1. Effector
Refers to the end effector, for example dexterous hands or grippers.
4. End
Refers to the 6DoF end pose on the robot flange.
5. Head
The robot has two degrees of freedom, pitch and yaw.
6. Joint
Dual arms with 14 degrees of freedom, 7 DoF each.
7. Robot
Robot referring to the robot's pose in its surrouding environment. The orientation and position refer to the robot's relative pose in the odometry coordinate system, where the origin is set since the robot is powered on.
1. Waist
The robot has two degrees of freedom on its waist, pitch and lift.

#### Common Fields
1. Position: Spatial position, encoder position, angle, etc.
2. Velocity: Speed
3. Angular: Angular velocity
4. Effort: Torque of the motor. Not available for now.
5. Wrench: Six-dimensional force, force in the xyz directions, and torque. Not available for now.

### Value shapes and ranges
| Group | Shape | Meaning | 
| --- | :---- | :---- |
| /timestamp | [$N$] | timestamp in nanoseconds |
| /state/effector/position (gripper) | [$N$, 2] | left `[:, 0]`, right `[:, 1]`, gripper open range in mm |
| /state/effector/position (dexhand) | [$N$, 12] | left `[:, :6]`, right `[:, 6:]`, joint angle in rad |
| /state/end/orientation | [$N$, 2, 4] | left `[:, 0, :]`, right `[:, 1, :]`, flange quaternion with xyzw |
| /state/end/position | [$N$, 2, 3] | left `[:, 0, :]`, right `[:, 1, :]`, flange xyz in meters |
| /state/head/position | [$N$, 2] | pitch `[:, 0]`, yaw `[:, 1]`, rad |
| /state/joint/current_value | [$N$, 14] | left arm `[:, :7]`, right arm `[:, 7:]` |
| /state/joint/position | [$N$, 14] | left arm `[:, :7]`, right arm `[:, 7:]`, rad |
| /state/robot/orientation | [$N$, 4] | quaternion in xyzw, yaw only |
| /state/robot/position | [$N$, 3] | xyz position, where z is always 0 in meters |
| /state/waist/position | [$N$, 2] | pitch `[:, 0]` in radians, lift `[:, 1]`in centimeters |
| /action/*/index | [$M$] | actions do not always has  |
| /action/position (gripper) | [$N$, 2] | left `[:, 0]`, right `[:, 1]`, 0 for full open and 1 for full close |
| /action/index | [$M_1$] | index when the control source for end effector is sending control signals |
| /action/end/orientation | [$N$, 2, 4] | same as /state/end/orientation |
| /action/end/position | [$N$, 2, 3] | same as /state/end/position |
| /action/end/index | [$M_2$] | same as other indexes |
| /action/head/position | [$N$, 2] | same as /state/head/position |
| /action/head/index | [$M_3$] | same as other indexes |
| /action/joint/position | [$N$, 14] | same as /state/joint/position |
| /action/joint/index | [$M_4$] | same as other indexes |
| /action/robot/velocity | [$N$, 2] | vel along x axis `[:, 0]` 1.6 to 1.6 m/s, yaw rate -1 to 1 rad/s |
| /action/robot/index | [$M_5$] | same as other indexes | 
| /action/waist/position | [$N$, 2] | same as /state/waist/position |
| /action/waist/index | [$M_6$] | same as other indexes | 


<ins>The definitions and data ranges in this section may change with software and hardware version. Stay tuned. </ins>

## Dataset Preprocess
Our project relies solely on the lerobot library (dataset `v2.0`)`, please follow their [installation instructions](https://github.com/huggingface/lerobot).
Here, we provide scripts for converting it to the lerobot format.
```
python scripts/convert_to_lerobot.py --src_path /path/to/agibotworld/alpha --task_id 352 --tar_path /path/to/save/lerobot
```
We would like to express our gratitude to the developers of lerobot for their outstanding contributions to the open-source community.

# License and Citation
All assets and code in this repository are under the [MIT License](./LICENSE) unless specified otherwise. The data is under [CC BY-NC-SA 4.0](https://creativecommons.org/licenses/by-nc-sa/4.0/).