Fifty real pick-and-place episodes from a low-cost SO-100/SO-101-class arm, recorded at 30 fps with a side camera and a top-down camera, and used as the SmolVLA fine-tuning example.
agibot-world/AgiBotWorld-Alpha
Indexed from Hugging FaceLinked to its home on Hugging Face. FrontierOS indexes it; nothing is hosted or mirrored here.DatasetRobot demonstrationsCC BY-NC-SA 4.0Custom or unstated terms. The upstream license governs use.GatedGated upstream: accept the owner's terms on Hugging Face to download.BimanualHumanoidMobile base
About
Real dual-arm demonstrations recorded on a fleet of AgiBot robots across 36 household, retail and industrial tasks, shipped as tar archives with a script to convert them to LeRobot format.
Why it matters for physical AI
It is one of the largest real humanoid-style bimanual datasets available, though the non-commercial terms limit product use.
Summary written by FrontierOS in our own words. The upstream card and license govern use. Metadata checked 27 Sep 2026. Read the full card on Hugging Face
Files, weights and version history live on Hugging Face. FrontierOS indexes this repo; it does not host or mirror it.
Gated upstream. Accept the owner's terms on Hugging Face and sign in with hf auth login before downloading.
hf download agibot-world/AgiBotWorld-Alpha --repo-type datasetUses the Hugging Face CLI (pip install -U huggingface_hub). This downloads the whole repo; add --include "<pattern>" to fetch only the files you need.
Open humanoid data is still scarce. What are you training on?
The permissive options are few: Humanoid Everyday for real teleoperation, NVIDIA's GR00T simulation sets, and large egocentric human video as a proxy.
More robot demonstrations
Browse allA filtered collection of 128 SO-100 datasets from 55 community contributors (about 11k episodes and 5.1M frames), with hand-cleaned task descriptions, released as the pretraining subset for SmolVLA.
About 200 human demonstrations in a 2D simulation where a round pusher slides a T-shaped block onto a target outline, stored in LeRobot v3 format.