Publish dataset card preview and summary metadata

README.md

@@ -0,0 +1,102 @@
+---
+pretty_name: RobotAgentBench
+viewer: false
+language:
+- en
+task_categories:
+- robotics
+size_categories:
+- 1M<n<10M
+tags:
+- robotics
+- lerobot
+- robotagentbench
+- agibot-g1
+- arxiv:2610.34649
+configs:
+- config_name: default
+  data_files:
+  - split: train
+    path: data/chunk-*/*.parquet
+---
+
+# RobotAgentBench
+
+Dataset card preview. Data files will be uploaded after review.
+
+[Paper](https://arxiv.org/abs/2610.34649) · [Project](https://aetherlabsai.github.io/RobotAgentBench/) · [Code](https://github.com/AetherLabsAI/RobotAgentBench) · [Model](https://huggingface.co/AetherLabs-AI/InternVLA-A1.5-RAB)
+
+**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](meta/task_counts.csv) · [Episode duration statistics](meta/duration_summary.csv)
+
+## Data format
+
+Demonstrations use **LeRobot v2.1** with the AgiBot G1 embodiment 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](meta/info.json).
+
+```text
+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 after data upload
+
+```bash
+hf download AetherLabs-AI/RobotAgentBench --repo-type dataset --local-dir RobotAgentBench
+```
+
+## Load after data upload
+
+```bash
+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
+
+```bibtex
+@article{mao2026robotagentbench,
+  title   = {RobotAgentBench: Towards Open-world Robot Autonomy},
+  author  = {Mao, Lingjun and Cao, Jinglin and He, Lukun and Xu, Wenpeng and
+             Yan, Yuchen and Jin, Hengyu and Zhang, Zijun and Tang, Jinzhou and
+             Jin, Songyao and Liu, Ziche and Shao, Yifei and Huang, Junbo and
+             Nan, Fang and Han, Ruobing and Xi, Ziqiao and Xu, Ziming and
+             Liang, Shuang and Zhu, Sibo and Wu, Wenyi and Wang, Xinyue and
+             Huang, Yiming and Zou, Xinkai and Zhu, Gao and Zhou, Kun and
+             Huang, Biwei},
+  journal = {arXiv preprint arXiv:2610.34649},
+  year    = {2026}
+}
+```

meta/duration_summary.csv

@@ -0,0 +1,5 @@
+scope,kind,episodes,frames,hours,min_s,p05_s,p10_s,q1_s,median_s,q3_s,p90_s,p95_s,max_s,mean_s,population_std_s,sample_std_s
+all,atomic,4195,3151810,43.77513888888889,5.05,8.8,14.1,15.7,26.4,46.3,65.7,125.34499999999996,224.2,37.56626936829559,33.62492678562504,33.62893524087986
+all,short,750,2475637,34.38384722222222,29.7,62.5025,82.44500000000001,100.1,149.15,190.5375,289.775,338.88499999999993,865.1,165.04246666666668,89.75066168696969,89.81055536176176
+all,long,70,971943,13.499208333333332,334.65,391.1325,444.74,505.57500000000005,726.775,817.2,953.7500000000001,1081.5674999999999,1247.5,694.2449999999999,210.1215862559444,211.63872932428978
+all,open,40,1520713,21.121013888888886,616.7,1060.755,1200.095,1652.525,2040.525,2223.725,2372.035,2419.6825,2622.4,1900.89125,457.246326104363,463.0713549002644

meta/info.json

@@ -0,0 +1,361 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "G1_omnipicker",
+  "total_episodes": 5055,
+  "total_frames": 8120103,
+  "total_tasks": 203,
+  "total_videos": 15165,
+  "total_chunks": 6,
+  "chunks_size": 1000,
+  "fps": 20,
+  "splits": {
+    "train": "0:5055"
+  },
+  "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+  "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+  "features": {
+    "action": {
+      "dtype": "float32",
+      "shape": [
+        22
+      ],
+      "names": [
+        "idx21_arm_l_joint1",
+        "idx22_arm_l_joint2",
+        "idx23_arm_l_joint3",
+        "idx24_arm_l_joint4",
+        "idx25_arm_l_joint5",
+        "idx26_arm_l_joint6",
+        "idx27_arm_l_joint7",
+        "idx61_arm_r_joint1",
+        "idx62_arm_r_joint2",
+        "idx63_arm_r_joint3",
+        "idx64_arm_r_joint4",
+        "idx65_arm_r_joint5",
+        "idx66_arm_r_joint6",
+        "idx67_arm_r_joint7",
+        "idx01_body_joint1",
+        "idx02_body_joint2",
+        "idx11_head_joint1",
+        "idx12_head_joint2",
+        "idx41_gripper_l_outer_joint1",
+        "idx81_gripper_r_outer_joint1",
+        "base_forward_m_s",
+        "base_yaw_rate_rad_s"
+      ],
+      "units": [
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "m",
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "m/s",
+        "rad/s"
+      ]
+    },
+    "observation.state": {
+      "dtype": "float32",
+      "shape": [
+        23
+      ],
+      "names": [
+        "idx21_arm_l_joint1",
+        "idx22_arm_l_joint2",
+        "idx23_arm_l_joint3",
+        "idx24_arm_l_joint4",
+        "idx25_arm_l_joint5",
+        "idx26_arm_l_joint6",
+        "idx27_arm_l_joint7",
+        "idx61_arm_r_joint1",
+        "idx62_arm_r_joint2",
+        "idx63_arm_r_joint3",
+        "idx64_arm_r_joint4",
+        "idx65_arm_r_joint5",
+        "idx66_arm_r_joint6",
+        "idx67_arm_r_joint7",
+        "idx01_body_joint1",
+        "idx02_body_joint2",
+        "idx11_head_joint1",
+        "idx12_head_joint2",
+        "idx41_gripper_l_outer_joint1",
+        "idx81_gripper_r_outer_joint1",
+        "base_x_world_m",
+        "base_y_world_m",
+        "base_yaw_world_unwrapped_rad"
+      ],
+      "units": [
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "m",
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "m",
+        "m",
+        "rad"
+      ]
+    },
+    "timestamp": {
+      "dtype": "float64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "observation.images.top_head": {
+      "dtype": "video",
+      "shape": [
+        800,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_info": {
+        "video.height": 800,
+        "video.width": 1280,
+        "video.channels": 3,
+        "video.codec": "h264",
+        "video.fps": 20.0,
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_left": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_info": {
+        "video.height": 480,
+        "video.width": 848,
+        "video.channels": 3,
+        "video.codec": "h264",
+        "video.fps": 20.0,
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.hand_right": {
+      "dtype": "video",
+      "shape": [
+        480,
+        848,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_info": {
+        "video.height": 480,
+        "video.width": 848,
+        "video.channels": 3,
+        "video.codec": "h264",
+        "video.fps": 20.0,
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    }
+  },
+  "owner_approval_added": false,
+  "scope": "One capped default train collection; atomic/short at most50 and long/open at most10 per existing task identity. Historical source labels preserved.",
+  "field_descriptions": {
+    "state": {
+      "state/whole_body": {
+        "dimensions": 23,
+        "indices": [
+          0,
+          1,
+          2,
+          3,
+          4,
+          5,
+          6,
+          7,
+          8,
+          9,
+          10,
+          11,
+          12,
+          13,
+          14,
+          15,
+          16,
+          17,
+          18,
+          19,
+          20,
+          21,
+          22
+        ],
+        "names": [
+          "idx21_arm_l_joint1",
+          "idx22_arm_l_joint2",
+          "idx23_arm_l_joint3",
+          "idx24_arm_l_joint4",
+          "idx25_arm_l_joint5",
+          "idx26_arm_l_joint6",
+          "idx27_arm_l_joint7",
+          "idx61_arm_r_joint1",
+          "idx62_arm_r_joint2",
+          "idx63_arm_r_joint3",
+          "idx64_arm_r_joint4",
+          "idx65_arm_r_joint5",
+          "idx66_arm_r_joint6",
+          "idx67_arm_r_joint7",
+          "idx01_body_joint1",
+          "idx02_body_joint2",
+          "idx11_head_joint1",
+          "idx12_head_joint2",
+          "idx41_gripper_l_outer_joint1",
+          "idx81_gripper_r_outer_joint1",
+          "base_x_world_m",
+          "base_y_world_m",
+          "base_yaw_world_unwrapped_rad"
+        ]
+      }
+    },
+    "action": {
+      "action/whole_body": {
+        "dimensions": 22,
+        "indices": [
+          0,
+          1,
+          2,
+          3,
+          4,
+          5,
+          6,
+          7,
+          8,
+          9,
+          10,
+          11,
+          12,
+          13,
+          14,
+          15,
+          16,
+          17,
+          18,
+          19,
+          20,
+          21
+        ],
+        "names": [
+          "idx21_arm_l_joint1",
+          "idx22_arm_l_joint2",
+          "idx23_arm_l_joint3",
+          "idx24_arm_l_joint4",
+          "idx25_arm_l_joint5",
+          "idx26_arm_l_joint6",
+          "idx27_arm_l_joint7",
+          "idx61_arm_r_joint1",
+          "idx62_arm_r_joint2",
+          "idx63_arm_r_joint3",
+          "idx64_arm_r_joint4",
+          "idx65_arm_r_joint5",
+          "idx66_arm_r_joint6",
+          "idx67_arm_r_joint7",
+          "idx01_body_joint1",
+          "idx02_body_joint2",
+          "idx11_head_joint1",
+          "idx12_head_joint2",
+          "idx41_gripper_l_outer_joint1",
+          "idx81_gripper_r_outer_joint1",
+          "base_forward_m_s",
+          "base_yaw_rate_rad_s"
+        ]
+      }
+    }
+  },
+  "language_instruction": {
+    "source": "meta/tasks.jsonl:task",
+    "row_mapping": "task_index",
+    "official_sample_key": "task",
+    "policy": "semantic descriptions, English; episode-specific scenario and constraints preserved",
+    "missing_rows": 0
+  },
+  "recommended_video_backend": "pyav",
+  "pixel_formats": "Original encodings plus lossless RGB padding; consult episode provenance for each camera",
+  "source_revision": "handoff_capped_50_10_20261026",
+  "qualification_required": false,
+  "conversion_only": true,
+  "recommended_loader_tolerance_s": 0.0003,
+  "timestamp_precision_note": "Parquet timestamp uses float64 frame_index/20. LeRobot0.3.3 converts scalar times to float32 torch tensors; >2048s videos require tolerance_s=0.0003 for float rounding only, below 1% of one frame.",
+  "train_split_semantics": "All selected latest/fallback versions. Original quality, failure, measurement, randomization and owner-review fields are annotations; no new approval or success is asserted.",
+  "collection": "all",
+  "quality_filter_applied": false,
+  "selection_policy": "User requested per-task count cap; latest corrected sources first; stable explicit source order within version; no quality filtering.",
+  "unified_core_schema": true,
+  "schema_coercion_note": "Same widths/order/units; actual recording, constraint-derived and replay-pose-derived components remain separately identified in provenance, never reclassified as observed or issued."
+}

meta/task_counts.csv

@@ -0,0 +1,111 @@
+collection,kind,task_label,delivery_scope_for_report,episodes,frames,hours
+all,atomic,1.1,1.1,50,31112,0.4321111111111111
+all,atomic,1.2,1.2,50,40265,0.5592361111111112
+all,atomic,1.4,1.4,50,31675,0.43993055555555555
+all,atomic,10.1,10.1,50,43001,0.5972361111111112
+all,atomic,10.2,10.2,50,148138,2.057472222222222
+all,atomic,3.1,3.1,50,26723,0.3711527777777778
+all,atomic,3.10,3.10,50,15700,0.21805555555555556
+all,atomic,3.11,3.11,50,24370,0.33847222222222223
+all,atomic,3.12,3.12,50,15700,0.21805555555555556
+all,atomic,3.13,3.13,50,25991,0.3609861111111111
+all,atomic,3.14,3.14,50,15700,0.21805555555555556
+all,atomic,3.15,3.15,50,25341,0.3519583333333333
+all,atomic,3.16,3.16,50,15700,0.21805555555555556
+all,atomic,3.19,3.19,50,25425,0.353125
+all,atomic,3.2,3.2,50,15700,0.21805555555555556
+all,atomic,3.20,3.20,50,15700,0.21805555555555556
+all,atomic,3.21,3.21,50,36261,0.503625
+all,atomic,3.22,3.22,50,15700,0.21805555555555556
+all,atomic,3.23,3.23,50,25327,0.3517638888888889
+all,atomic,3.24,3.24,50,15700,0.21805555555555556
+all,atomic,3.25,3.25,50,26415,0.366875
+all,atomic,3.26,3.26,50,15700,0.21805555555555556
+all,atomic,3.27,3.27,50,23499,0.326375
+all,atomic,3.28,3.28,50,15700,0.21805555555555556
+all,atomic,3.29,3.29,50,26850,0.3729166666666667
+all,atomic,3.3,3.3,50,27139,0.37693055555555555
+all,atomic,3.30,3.30,50,15700,0.21805555555555556
+all,atomic,3.4,3.4,50,15700,0.21805555555555556
+all,atomic,3.5,3.5,50,26690,0.37069444444444444
+all,atomic,3.6,3.6,50,15700,0.21805555555555556
+all,atomic,3.7,3.7,50,23965,0.33284722222222224
+all,atomic,3.8,3.8,50,15700,0.21805555555555556
+all,atomic,3.9,3.9,50,26662,0.37030555555555555
+all,atomic,4.1,4.1,50,20984,0.29144444444444445
+all,atomic,4.10,4.10,50,116298,1.6152499999999999
+all,atomic,4.12,4.12,50,21330,0.29625
+all,atomic,4.13,4.13,50,76787,1.066486111111111
+all,atomic,4.14,4.14,50,47804,0.6639444444444444
+all,atomic,4.16,4.16,50,36050,0.5006944444444444
+all,atomic,4.17,4.17,50,39366,0.54675
+all,atomic,4.2,4.2,50,15417,0.214125
+all,atomic,4.3,4.3,50,20255,0.28131944444444446
+all,atomic,4.4,4.4,50,52244,0.7256111111111111
+all,atomic,4.6,4.6,50,23049,0.320125
+all,atomic,4.7,4.7,50,48033,0.6671250000000001
+all,atomic,4.8,4.8,50,58501,0.812513888888889
+all,atomic,4.9,4.9,50,40489,0.5623472222222222
+all,atomic,5.1,5.1,50,13317,0.18495833333333334
+all,atomic,5.10,5.10,50,6499,0.09026388888888888
+all,atomic,5.11,5.11,50,14000,0.19444444444444445
+all,atomic,5.12,5.12,50,7218,0.10024999999999999
+all,atomic,5.2,5.2,50,11073,0.15379166666666666
+all,atomic,5.3,5.3,50,13451,0.18681944444444443
+all,atomic,5.4,5.4,50,16820,0.2336111111111111
+all,atomic,5.5,5.5,50,12172,0.16905555555555557
+all,atomic,5.6,5.6,50,6253,0.08684722222222223
+all,atomic,6.1,6.1,50,65700,0.9125
+all,atomic,6.11,6.11,50,26400,0.36666666666666664
+all,atomic,6.15,6.15,50,65000,0.9027777777777778
+all,atomic,6.2,6.2,50,19750,0.2743055555555556
+all,atomic,6.3,6.3,50,8800,0.12222222222222223
+all,atomic,6.4,6.4,50,52500,0.7291666666666666
+all,atomic,6.5,6.5,50,65000,0.9027777777777778
+all,atomic,6.6,6.6,50,34084,0.4733888888888889
+all,atomic,6.7,6.7,50,59986,0.833138888888889
+all,atomic,6.9,6.9,50,32150,0.4465277777777778
+all,atomic,7.10,7.10,50,22218,0.3085833333333334
+all,atomic,7.2,7.2,50,42210,0.58625
+all,atomic,7.4,7.4,50,38567,0.5356527777777778
+all,atomic,7.8,7.8,50,17375,0.24131944444444445
+all,atomic,8.2,8.2,45,48736,0.676888888888889
+all,atomic,8.4,8.4,50,116286,1.6150833333333334
+all,atomic,8.6,8.6,50,61585,0.8553472222222223
+all,atomic,9.1,9.1,50,56032,0.7782222222222221
+all,atomic,9.2,9.2,50,165249,2.295125
+all,atomic,9.3,9.3,50,58167,0.807875
+all,atomic,9.4,9.4,50,168994,2.347138888888889
+all,atomic,9.5,9.5,50,57983,0.8053194444444445
+all,atomic,fork,fork,50,41155,0.5715972222222222
+all,atomic,knife,knife,50,35825,0.49756944444444445
+all,atomic,source_2.1,source_2.1,50,63678,0.8844166666666667
+all,atomic,source_2.2,source_2.2,50,62886,0.8734166666666667
+all,atomic,source_2.3,source_2.3,50,23239,0.3227638888888889
+all,atomic,source_2.5,source_2.5,50,40196,0.5582777777777778
+all,long,L01,L01,10,118884,1.6511666666666667
+all,long,L02,L02,10,139717,1.940513888888889
+all,long,L03,L03,10,160569,2.230125
+all,long,L05,L05,10,81704,1.1347777777777777
+all,long,L06,L06,10,159190,2.2109722222222223
+all,long,L07,L07,10,102310,1.4209722222222223
+all,long,L08,L08,10,209569,2.910680555555556
+all,open,O01,O01,10,466338,6.476916666666667
+all,open,O02,O02,10,419434,5.825472222222222
+all,open,O03,O03,10,297195,4.1277083333333335
+all,open,O04,O04,10,337746,4.690916666666666
+all,short,12,12,50,116890,1.6234722222222222
+all,short,13,13,50,283094,3.9318611111111115
+all,short,17,17,50,197826,2.747583333333333
+all,short,18,18,50,144431,2.005986111111111
+all,short,4,4,50,195272,2.712111111111111
+all,short,5,5,50,184321,2.560013888888889
+all,short,6,6,50,196530,2.7295833333333333
+all,short,7,7,50,136552,1.8965555555555556
+all,short,cutlery,cutlery,50,90755,1.2604861111111112
+all,short,shelf-table,shelf-table,50,132751,1.843763888888889
+all,short,short.airfryer,short.airfryer,50,100121,1.3905694444444445
+all,short,short.coffee,short.coffee,50,143901,1.998625
+all,short,short.fridge-microwave,short.fridge-microwave,50,346720,4.815555555555555
+all,short,short16,short16,50,143703,1.9958749999999998
+all,short,st18-1,st18-1 wiping delivery,50,62770,0.8718055555555555