| --- |
| license: apache-2.0 |
| --- |
| ## Download |
|
|
| Download and unpack the samples from either [Hugging Face](https://huggingface.co/datasets/D-Robotics/Uranus-Demo-Data) or [ModelScope](https://modelscope.cn/datasets/D-Robotics/Uranus-Demo-Data) into `examples/data/`. |
|
|
| ### Hugging Face |
|
|
| ```bash |
| pip install -U huggingface_hub |
| |
| hf download D-Robotics/Uranus-Demo-Data \ |
| --repo-type dataset \ |
| --local-dir ./examples/data |
| ``` |
|
|
| ### ModelScope |
|
|
| ```bash |
| pip install -U modelscope |
| |
| modelscope download \ |
| --dataset D-Robotics/Uranus-Demo-Data \ |
| --local_dir ./examples/data |
| ``` |
|
|
| Each episode lands in `./examples/data/<episode_id>/` and can be passed directly to `main.py --sample-dir`. |
|
|
| Each sample is a self-contained "XML-environment" directory: |
|
|
| ``` |
| sample_dir/ |
| ├── meta.json # prompt, cameras, mjcf_path, end_effectors, skeleton, fps |
| ├── temporal.json # step_qpos: [{state, robot2world_transform}, ...] |
| ├── mjcf/ |
| │ └── <robot>.xml # robot MJCF with baked-in camera calibration & mounts |
| ├── ref_images/ |
| │ └── <camera>.png # one reference image per camera |
| └── gt/ |
| └── <camera>.mp4 # ground-truth video per camera |
| ``` |
|
|
| Your own robot data can be converted into this same format and fed to inference as well, as long as it provides the per-frame `qpos`, the robot MJCF with calibrated cameras, and one reference image per camera. |
|
|
| ## Dataset Licenses |
|
|
| The Apache-2.0 license declared for this repository applies only to the original code and materials released by this project. Samples derived from third-party datasets remain subject to their respective upstream licenses and terms of use. |
|
|
| | Source dataset | License | Source | |
| | --- | --- | --- | |
| | AgiBot World 2026 | [CC BY-NC-SA 4.0](https://creativecommons.org/licenses/by-nc-sa/4.0/) | [Dataset page](https://huggingface.co/datasets/agibot-world/AgiBotWorld2026) | |
| | AgiBot World Beta | [CC BY-NC-SA 4.0](https://creativecommons.org/licenses/by-nc-sa/4.0/) | [Dataset page](https://huggingface.co/datasets/agibot-world/AgiBotWorld-Beta) | |
| | DROID | [Apache License 2.0](https://www.apache.org/licenses/LICENSE-2.0) | [Dataset website](https://droid-dataset.github.io/droid/the-droid-dataset.html) | |
| | RoboChallenge Table30 | - | [Dataset page](https://huggingface.co/datasets/RoboChallenge/Table30) | |
| | RoboChallenge Table30 v2 | - | [Dataset page](https://huggingface.co/datasets/RoboChallenge/Table30v2) | |
|
|
