We explore how scalable robot data can address real-world challenges for generalized robotic manipulation. Introducing AgiBot World, a large-scale platform comprising over 1 million trajectories across 217 tasks in five deployment scenarios, we achieve an order-of-magnitude increase in data scale compared to existing datasets. Accelerated by a standardized collection pipeline with human-in-the-loop verification, AgiBot World guarantees high-quality and diverse data distribution. It is extensible from grippers to dexterous hands and visuo-tactile sensors for fine-grained skill acquisition. Building on top of data, we introduce Genie Operator-1 (GO-1), a novel generalist policy that leverages latent action representations to maximize data utilization, demonstrating predictable performance scaling with increased data volume. Policies pre-trained on our dataset achieve an average performance improvement of 30% over those trained on Open X-Embodiment, both in in-domain and out-of-distribution scenarios. GO-1 exhibits exceptional capability in real-world dexterous and long-horizon tasks, achieving over 60% success rate on complex tasks and outperforming prior RDT approach by 32%. By open-sourcing the dataset, tools, and models, we aim to democratize access to large-scale, high-quality robot data, advancing the pursuit of scalable and general-purpose intelligence.
Figures & tables
Dataset
Traj.
Skill
Scene
Detailed Annotation
Cam. Calibration
Arm Type
Dex. Hand
Failure Recovery
Human-in- the-loop
Collection
RoboNet [ 11 ]
162k
n/a
10
✗
✗
Single
✗
✗
✗
scripted
BridgeData [ 12 ]
7.2k
4
12
✗
✗
Single
✗
✗
✗
human teleop
BC-Z [ 13 ]
26k
3
1
✗
✗
Single
✗
✗
✗
human teleop
RT-1 [ 14 ]
130k
8
2
✗
✗
Single
✗
✗
✗
human teleop
RH20T [ 15 ]
13k
33
7
✗
✓
Single
✗
✗
✗
human teleop
RoboSet [ 16 ]
98.5k
6
11
✗
✗
Single
✗
✗
✗
30% human / 70% scripted
TABLE I : Comparison to existing datasets. AgiBot World features the largest number of trajectories to date . We replicate real-world environment at a 1:1 scale for the industrial and retail scenarios, which are barely present before. Extensive human annotations are offered, including item, scene, skill (sub-task segmented), and task-level annotations. Notably, to expand data applicability and potential, we include imperfect data ( i.e., failure recovery data with annotated error states) and tasks with dexterous hands. To ensure data quality, we adopt a human-in-the-loop philosophy: the policy learning is performed on collected demonstrations. The deployment results are adopted as feedback to improve the collection protocol.
Fig. 2 : Data collection pipeline. We embrace a human-in-the-loop framework to ensure high quality, enriched with detailed annotations and error recovery behaviors. Human feedback plays a critical role not only in post-collection review but also in actively guiding the data collection process, which is largely overlooked in prior efforts.
Fig. 3 : Dataset Statistics. a) AgiBot World dataset covers the vast majority of robotic application scenarios, as well as a wide range of interactive objects. b) Our dataset features long-horizon tasks, with the majority of trajectories ranging from 30s to 60s. In contrast, widely used datasets, such as DROID, primarily consist of trajectories ranging from 5s to 20s, while OXE v1.0 predominantly contains trajectories within 5s. c) AgiBot World dataset focuses on valuable atomic skills, spanning a wide spectrum of skills, each supported by a minimum of 100 trajectories (red dashed line above).
Fig. 4 : We propose GO-1 , a generalist policy featuring general reasoning and long-horizon planning capabilities. The latent action model (LAM) learns universal action representations from web-scale video data ( i.e., human videos from Ego4D), and quantizes them into discrete latent action tokens. The latent planner conducts temporal reasoning through latent action prediction, bridging the gap between image-text inputs and robot actions generated by the action expert.
Fig. 5 : Is GO-1 a more powerful robot generalist policy? We evaluate GO-1 against previous generalist policy RDT-1B and our baseline without the latent planner, with all policies pre-trained on AgiBot World beta . Across all tasks and comparisons, GO-1 outperforms baselines by a large margin. The incorporation of latent planner boosts performance on complex tasks such as “Fold Shorts” and improves generalizability in task “Restock Beverage” in great extent.
Fig. 6 : Does AgiBot World dataset improve policy performance and generalizability? Policies pre-trained on our dataset outperform those trained on OXE in both seen (0.77 v.s. 0.47) and out-of-distribution scenarios (0.67 v.s. 0.38).
Fig. 7 : Further analysis on : a) how model performance scales with data size, and b) the impact of filtering undesirable data through manual review on policy learning.
Learning effective robot manipulation policies requires diverse, high-quality demonstrations, yet existing data pipelines are often difficult to scale because they rely on specialized hardware, centralized operators, or fixed task suites. We present AXIS, a growable community-driven data engine and benchmark for scalable robot learning, which enables browser-based teleoperation for large-scale demonstration collection, automatically generates and validates new manipulation tasks, and transforms community-collected demonstrations into training-ready data through automated success checking, quality filtering, trajectory smoothing, and visual and physics-based augmentation. The AXIS dataset currently contains 207 diverse tasks and 50K+ trajectories. Meanwhile, AXIS organizes data into task snapshots and evaluates policies with a systematic held-out protocol. We compare vision-language-action (VLA) policies under a unified AXIS evaluation suite and analyze scaling behavior across different data volumes. Continual pretraining on AXIS substantially improves the overall success rate of π0.5 by 5.8%, outperforms the model pretrained on RoboCasa365 by 37.3%, and exhibits consistent scaling with increasing data volume, with the largest gains observed under layout, sensor-noise, and camera perturbations.
Mengfei Zhao, Dihong Huang, Yikai Tang +12
1Axis Robotics · University of California, Berkeley · 3Georgia Institute of Technology +6
Imitation learning is a powerful paradigm for training robotic policies, yet its performance is limited by compounding errors: minor policy inaccuracies could drive robots into unseen out-of-distribution (OOD) states in the training set, where the policy could generate even bigger errors, leading to eventual failures. While the Data Aggregation (DAgger) framework tries to address this issue, its reliance on continuous human involvement severely limits scalability. In this paper, we propose WM-DAgger, an efficient data aggregation framework that leverages World Models to synthesize OOD recovery data without requiring human involvement. Specifically, we focus on manipulation tasks with an eye-in-hand robotic arm and only few-shot demonstrations. To avoid synthesizing misleading data and overcome the hallucination issues inherent to World Models, our framework introduces two key mechanisms: (1) a Corrective Action Synthesis Module that generates task-oriented recovery actions to prevent misleading supervision, and (2) a Consistency-Guided Filtering Module that discards physically implausible trajectories by anchoring terminal synthesized frames to corresponding real frames in expert demonstrations. We extensively validate WM-DAgger on multiple real-world robotic tasks. Results that our method significantly improves success rates, achieving a 93.3% success rate in soft bag pushing with only five demonstrations. The source code is publicly available at https://github.com/czs12354-xxdbd/WM-Dagger.
Anlan Yu, Zaishu Chen, Peili Song +6
Peking University, Beijing, China · JD Logistics, China · Nankai University, Tianjin, China +4
Achieving generalizable robotic manipulation remains a central challenge in embodied intelligence. Despite rapid advances in model architectures and learning algorithms, progress is often limited by the scarcity and narrow diversity of real-world data. The RoboSynChallenge competition introduces a unified benchmark to evaluate and advance the generalizability of manipulation policies across a spectrum of tasks, environments, and difficulty levels. To alleviate the shortage of realistic data, the challenge integrates large-scale synthetic data generation with standardized real-world robotic evaluation. Participants are encouraged to leverage synthesized state-action trials to improve general-purpose policy learning, while final assessments are conducted exclusively on unseen real-world manipulation environments. Baseline implementations, including Transformer-, Diffusion-, Vision-Language-Action, and World-Action-Model-based policies, are provided to ensure reproducibility and comparability. By coupling scalable simulation-based training with rigorous real-world validation, RoboSynChallenge aims to foster the development of broadly capable, data-efficient, and adaptable manipulation systems, thereby paving the way toward truly general robotic intelligence.
Runyi Zhao, Ruixin Wu, Chengkun Li +15
Shenzhen Loop Area Institute (SLAI) · The Chinese University of Hong Kong, Shenzhen · DexForce +8