AetherLabs-AI/RobotAgentBench-TrainingData

RobotAgentBench

Paper · Project · Code · Model

RobotAgentBench: Towards Open-world Robot Autonomy introduces a benchmark for evaluating robot agents in realistic, open-world household environments. An agent-assisted, human-in-the-loop real-to-sim pipeline constructs household environments with interactive objects and physically grounded tasks.

The task hierarchy comprises atomic tasks, short-horizon tasks, long-horizon tasks, and open-ended scenarios. Evaluation spans task discovery, context reasoning, manipulation, failure recovery, robustness, and autonomous fulfillment of high-level user needs.

Dataset summary

Category	Episodes	Frames	Hours
Atomic	4,195	3,151,810	43.775139
Short-horizon	750	2,475,637	34.383847
Long-horizon	70	971,943	13.499208
Open-ended	40	1,520,713	21.121014
Total	5,055	8,120,103	112.779208

The release contains 15,165 camera videos and 203 language instructions. The train split contains all 5,055 episodes. Tablecloth-manipulation tasks are excluded.

Per-source task counts · Episode duration statistics

Data format

Demonstrations use LeRobot v2.1 at 20 Hz.

Feature	Type / shape	Content
observation.state	float32[23]	Twenty joint channels, world-frame base (x, y), and unwrapped yaw
action	float32[22]	Twenty joint-position targets, body-forward velocity, and yaw rate
observation.images.top_head	RGB video, 800 × 1280 × 3	Head camera
observation.images.hand_left	RGB video, 480 × 848 × 3	Left wrist camera
observation.images.hand_right	RGB video, 480 × 848 × 3	Right wrist camera
task_index	int64	Language instruction in meta/tasks.jsonl
timestamp	float64	Episode time in seconds
episode_index, frame_index, index	int64	Episode, frame, and dataset indices

Torso lift and base position use metres; angular joint channels and yaw use radians. Base commands use metres per second and radians per second. Channel order and units are recorded in meta/info.json.

data/        Episode data in Parquet format
videos/      Head and wrist camera videos
meta/        Tasks, episodes, features, statistics, and provenance
auxiliary/   Original source fields and supporting data

Episode provenance and original diagnostic labels are retained in meta/episode_provenance.jsonl and meta/qualification.jsonl. Signal origins and alignment are recorded in meta/component_origin_index.json and meta/alignment_conventions.json.

Download

hf download AetherLabs-AI/RobotAgentBench-TrainingData --repo-type dataset --local-dir RobotAgentBench

Load

python -m pip install "lerobot==0.3.3" av
cd RobotAgentBench
python portable_loader.py --root . --episode 0 --frame 0 --cache-dir ../rab-cache

Citation

@misc{mao2026robotagentbenchopenworldrobotautonomy,
      title={RobotAgentBench: Towards Open-world Robot Autonomy}, 
      author={Lingjun Mao and Jinglin Cao and Lukun He and Wenpeng Xu and Yuchen Yan and Hengyu Jin and Zijun Zhang and Jinzhou Tang and Songyao Jin and Ziche Liu and Yifei Shao and Junbo Huang and Fang Nan and Ruobing Han and Ziqiao Xi and Ziming Xu and Shuang Liang and Sibo Zhu and Wenyi Wu and Xinyue Wang and Yiming Huang and Xinkai Zou and Gao Zhu and Kun Zhou and Biwei Huang},
      year={2026},
      eprint={2610.34649},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2610.34649}, 
}