Datasets:

InternRobotics
/

RoboAtom

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+# Video files - compressed
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+---
+license: mit
+pretty_name: RoboAtom
+language:
+  - en
+task_categories:
+  - robotics
+size_categories:
+  - 100K<n<1M
+tags:
+  - robotics
+  - atomic-actions
+  - temporal-action-segmentation
+  - video
+configs:
+  - config_name: RoboAtom-Data
+    data_files:
+      - split: train
+        path: RoboAtom-Data/roboatom_data.jsonl
+  - config_name: RoboAtom-Bench
+    default: true
+    data_files:
+      - split: test
+        path: RoboAtom-Bench/benchmark.jsonl
+---
+# RoboAtom: Large-scale Atomic-Action Supervision for Robot Learning
+![RoboAtom overview](./project_media/figures/roboatom-overview.png)
+<p align="center">
+  <a href="https://internrobotics.github.io/RoboAtom/" style="display: inline-block; vertical-align: middle; line-height: 0;"><img src="https://raw.githubusercontent.com/InternRobotics/RoboAtom/main/homepage/assets/badges/website.svg" alt="Project page" width="146" height="36" style="display: inline-block; margin: 0; vertical-align: middle;"></a>
+  <a href="https://github.com/InternRobotics/RoboAtom" style="display: inline-block; vertical-align: middle; line-height: 0;"><img src="https://raw.githubusercontent.com/InternRobotics/RoboAtom/main/homepage/assets/badges/code.svg" alt="GitHub" width="112" height="36" style="display: inline-block; margin: 0; vertical-align: middle;"></a>
+  <a href="https://arxiv.org/abs/2610.40207" style="display: inline-block; vertical-align: middle; line-height: 0;"><img src="https://raw.githubusercontent.com/InternRobotics/RoboAtom/main/homepage/assets/badges/paper.svg" alt="Paper" width="102" height="36" style="display: inline-block; margin: 0; vertical-align: middle;"></a>
+  <a href="https://huggingface.co/datasets/InternRobotics/RoboAtom" style="display: inline-block; vertical-align: middle; line-height: 0;"><img src="https://raw.githubusercontent.com/InternRobotics/RoboAtom/main/homepage/assets/badges/data.svg" alt="Dataset" width="122" height="36" style="display: inline-block; margin: 0; vertical-align: middle;"></a>
+  <a href="https://huggingface.co/InternRobotics/RoboAtom" style="display: inline-block; vertical-align: middle; line-height: 0;"><img src="https://raw.githubusercontent.com/InternRobotics/RoboAtom/main/homepage/assets/badges/models.svg" alt="Models" width="116" height="36" style="display: inline-block; margin: 0; vertical-align: middle;"></a>
+</p>
+## RoboAtom-Data
+Time-aligned atomic-action annotations: each segment has a skill label, an action description, and frame boundaries. Each dataset has one JSONL file; `roboatom_data.jsonl` is their concatenation.
+| Dataset | Annotation file |
+| --- | --- |
+| Private | [Private.jsonl](https://huggingface.co/datasets/InternRobotics/RoboAtom/resolve/main/RoboAtom-Data/by_dataset/Private.jsonl) |
+| EBench | [EBench.jsonl](https://huggingface.co/datasets/InternRobotics/RoboAtom/resolve/main/RoboAtom-Data/by_dataset/EBench.jsonl) |
+| Galaxea Open-World | [Galaxea_Open-World.jsonl](https://huggingface.co/datasets/InternRobotics/RoboAtom/resolve/main/RoboAtom-Data/by_dataset/Galaxea_Open-World.jsonl) |
+| InternData-A1 | [InternData-A1.jsonl](https://huggingface.co/datasets/InternRobotics/RoboAtom/resolve/main/RoboAtom-Data/by_dataset/InternData-A1.jsonl) |
+| LIBERO | [LIBERO.jsonl](https://huggingface.co/datasets/InternRobotics/RoboAtom/resolve/main/RoboAtom-Data/by_dataset/LIBERO.jsonl) |
+| RoboCasa | [RoboCasa.jsonl](https://huggingface.co/datasets/InternRobotics/RoboAtom/resolve/main/RoboAtom-Data/by_dataset/RoboCasa.jsonl) |
+| RoboCerebra | [RoboCerebra.jsonl](https://huggingface.co/datasets/InternRobotics/RoboAtom/resolve/main/RoboAtom-Data/by_dataset/RoboCerebra.jsonl) |
+| RoboDojo | [RoboDojo.jsonl](https://huggingface.co/datasets/InternRobotics/RoboAtom/resolve/main/RoboAtom-Data/by_dataset/RoboDojo.jsonl) |
+| RoboTwin 2.0 | [RoboTwin_2.0.jsonl](https://huggingface.co/datasets/InternRobotics/RoboAtom/resolve/main/RoboAtom-Data/by_dataset/RoboTwin_2.0.jsonl) |
+| RH20T | [RH20T.jsonl](https://huggingface.co/datasets/InternRobotics/RoboAtom/resolve/main/RoboAtom-Data/by_dataset/RH20T.jsonl) |
+| AgiBot World Beta | [AgiBot_World_Beta.jsonl](https://huggingface.co/datasets/InternRobotics/RoboAtom/resolve/main/RoboAtom-Data/by_dataset/AgiBot_World_Beta.jsonl) |
+| AgiBot World 2026 | [AgiBot_World_2026.jsonl](https://huggingface.co/datasets/InternRobotics/RoboAtom/resolve/main/RoboAtom-Data/by_dataset/AgiBot_World_2026.jsonl) |
+| **All datasets** | [roboatom_data.jsonl](https://huggingface.co/datasets/InternRobotics/RoboAtom/resolve/main/RoboAtom-Data/roboatom_data.jsonl) |
+```bash
+hf download InternRobotics/RoboAtom --repo-type dataset \
+  --include 'RoboAtom-Data/roboatom_data.jsonl' --local-dir ./data
+```
+```python
+from datasets import load_dataset
+annotations = load_dataset(
+    "InternRobotics/RoboAtom", "RoboAtom-Data", split="train", streaming=True
+)
+```
+| Fields | Meaning |
+| --- | --- |
+| `id`, `dataset`, `task_id`, `episode_index` | Trajectory and task identities |
+| `task`, `task_flags` | Task text and task-text flags |
+| `num_frames`, `fps`, `views`, `domain` | Frame count, FPS (InternData-A1: 30 mapped to 15), camera names, real/sim |
+| `segments` | Ordered `{start_frame, end_frame, skill, action_text}` |
+| `is_human_annotated` | Human-QC status: `true`, `false`, or `null` |
+| `public_source_url`, `public_location` | Source repository and source-relative path, or `null` |
+Frame indices are zero-based and both endpoints are included. The files contain annotations only; get videos and sensor data from the source datasets.
+Skills: `Pick`, `Place`, `Handover`, `Move`, `Open`, `Close`, `Push`, `Pull`, `Press`, `Rotate`, `Screw`, `Plug`, `Pour`, `Fill`, `Scoop`, `Stir`, `Dip`, `Shake`, `Fold`, `Tie`, `Wipe`, `Sweep`, `Wash`, `Brush`, `Cut`, `Peel`, `Strike`, `Scan`, `Throw`. An empty `skill` marks an unlabeled span.
+## RoboAtom-Bench
+A model predicts ordered skill labels, action descriptions, and temporal boundaries for complete robot trajectories.
+| Subset | Trajectories | GT segments | Videos |
+| --- | ---: | ---: | ---: |
+| Short (1–4 segments) | 200 | 411 | 200 |
+| Medium (5–8) | 100 | 634 | 100 |
+| Long (9–62) | 100 | 2,302 | 100 |
+| Multiview | 100 | 671 | 321 |
+| **Total** | **500** | **4,018** | **721** |
+```bash
+hf download InternRobotics/RoboAtom --repo-type dataset \
+  --include 'RoboAtom-Bench/**' --local-dir ./data
+```
+`benchmark.jsonl` holds model inputs and relative video paths; `gt.jsonl` holds `action_config` segments with the same `benchmark_id`. An input record:
+```json
+{
+  "benchmark_id": "benchmark:004957f135e186fb5052",
+  "category": "short",
+  "dataset": "RoboMIND 2.0",
+  "task": "Transfers the tape from the board to the tray using both arms.",
+  "fps": 30.0,
+  "length": 242,
+  "frame_interval": "closed_inclusive",
+  "benchmark_view_mode": "singleview",
+  "evaluation_views": ["front"],
+  "model_view_key": "front",
+  "views": {"front": "videos/004957f135e186fb5052/00_front.mp4"}
+}
+```
+Validate, run inference, and score with the [RoboAtom code](https://github.com/InternRobotics/RoboAtom#quick-start-benchmark):
+```bash
+roboatom evaluate \
+  --gt ./data/RoboAtom-Bench/gt.jsonl \
+  --benchmark-input ./data/RoboAtom-Bench/benchmark.jsonl \
+  --prediction outputs/roboatom_predictions.jsonl \
+  --protocol configs/roboatom_bench.yaml \
+  --output-dir outputs/roboatom_evaluation
+```
+Metrics: Micro F1 at 0.3/0.5/0.7, Skill F1@0.7, mIoU, and Edit.
+## License and citation
+Annotations, benchmark labels, and project media are released under the MIT license. Source videos and datasets keep their own terms. Citation: [CITATION.cff](https://github.com/InternRobotics/RoboAtom/blob/main/CITATION.cff).
+If you use RoboAtom in your research, please cite:
+```bibtex
+@misc{wei2026roboatomlargescaleatomicactionsupervision,
+      title={RoboAtom: Large-scale Atomic-Action Supervision for Robot Learning},
+      author={Xueyuan Wei and Xuanxu Wang and Xudong Li and Yuping He and Wanshui Gan and Jiaqi Peng and Wenqi Guo and Jianjun Zhou and Junting Dong and Chunhua Shen and Haoyu Guo and Mulin Yu and Tao Lu},
+      year={2026},
+      eprint={2610.40207},
+      archivePrefix={arXiv},
+      primaryClass={cs.RO},
+      url={https://arxiv.org/abs/2610.40207},
+}
+```
+## To-do
+Expected by December 25, 2026:
+- [ ] ABC-130k
+- [ ] RoboCOIN
+- [ ] RoboMIND
+- [ ] RoboMIND 2.0
+## RoboDojo merged annotations
+Added all 3,499 RoboDojo trajectories (35 tasks) to the dataset file and combined file. Includes 2,166 extend results, 1,133 API/Codex results (three explicitly approved by a human reviewer), and 200 preserved human records. Three newly reviewed trajectories have human-QC status true. Source extend warnings and unlabeled spans are retained; this is not a claim that every extend result was visually reviewed. Existing action segments and benchmark GT are unchanged. The combined file includes all 12 datasets, including all 621,633 InternData-A1 trajectories (934,099 trajectories in total). Counts: RoboAtom-Data/dataset_info.json.

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