metadata
license: cc-by-4.0
pretty_name: RobotArena Dataset
task_categories:
- robotics
tags:
- robotics
- embodied-ai
- vision-language-action
- manipulation
size_categories:
- 1K<n<10K
RobotArena Dataset
The RobotArena dataset contains reconstructed robotic manipulation scenes used for evaluating Vision-Language-Action (VLA) policies in simulation.
It is designed to support the RobotArena benchmark, which evaluates robot policies by converting real-world robot videos into physics-consistent simulation environments.
Contents
The dataset includes:
- Scene reconstructions used for simulation environments
- RGB image sequences from robot demonstrations
- Depth maps and geometry information
- 3D assets and meshes used for scene generation
- Background and environment assets
Dataset Size
- Total size: ~4.3 GB
- Number of files: ~15k
Intended Use
This dataset is intended for:
- Evaluating robot manipulation policies
- Benchmarking Vision-Language-Action models
- Research on simulation-to-real transfer
- Studying embodied AI systems
License
This dataset is released under the CC BY 4.0 License.
See the LICENSE.md file for full license details.
Citation
If you use this dataset in academic work, please cite:
@misc{jangir2025robotarenainftyscalablerobot,
title={RobotArena $\infty$: Scalable Robot Benchmarking via Real-to-Sim Translation},
author={Yash Jangir and Yidi Zhang and Kashu Yamazaki and Chenyu Zhang and Kuan-Hsun Tu and Tsung-Wei Ke and Lei Ke and Yonatan Bisk and Katerina Fragkiadaki},
year={2025},
eprint={2510.23571},
archivePrefix={arXiv},
primaryClass={cs.RO},
url={https://arxiv.org/abs/2510.23571},
}