| --- |
| license: mit |
| tags: |
| - robotics |
| - robot-learning |
| - preference-data |
| pretty_name: RoboArena Dataset Snapshot — 2026-07-17 |
| --- |
| |
| # RoboArena Dataset Snapshot — 2026-07-17 |
|
|
| This dataset contains autonomous policy rollouts, task-success |
| scores, policy-preference annotations, and related metadata collected by the |
| [RoboArena benchmark](https://robo-arena.github.io/) from its inception through July 17, 2026. |
|
|
| ## Snapshot statistics |
|
|
| - Evaluation sessions: 3,883 |
| - Policy episodes: 10,783 |
| - MP4 videos: 27,148 |
| - NPZ proprioception/action files: 10,783 |
| - Session metadata files: 3,883 |
|
|
| ## Data layout |
|
|
| ```text |
| . |
| ├── README.md |
| ├── global_metadata.yaml |
| └── evaluation_sessions/ |
| └── <evaluation_session_uuid>/ |
| ├── metadata.yaml |
| ├── <label>_<policy_name>/ |
| │ ├── ..._video_left.mp4 # when available |
| │ ├── ..._video_right.mp4 # when available |
| │ ├── ..._video_wrist.mp4 |
| │ └── ..._npz_file.npz |
| └── ... |
| ``` |
|
|
| Each session's `metadata.yaml` contains its instruction, preference, |
| long-form feedback, timestamps, and per-policy outcome fields. The top-level |
| `global_metadata.yaml` contains aggregate counts and a policy index with |
| open-source and action-space annotations. |
|
|
| Policy names are preserved exactly inside metadata. For portable directory |
| names, characters outside letters, numbers, `.`, `_`, and `-` are replaced by |
| underscores. For example, `allenai/MolmoAct2-DROID` is stored under a directory |
| component named `allenai_MolmoAct2-DROID`. |
|
|
| For details about the benchmark, see **“RoboArena: Distributed Real-World |
| Evaluation of Generalist Robot Policies,”** |
| [arXiv:2506.18123](https://arxiv.org/abs/2506.18123). |
|
|
