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<!DOCTYPE html>
<html lang="en">
<style>
pre {
white-space: pre-wrap;
/* 保留换行 */
font-family: monospace;
/* 设置字体 */
background-color: #f4f4f4;
/* 背景色 */
padding: 10px;
/* 内边距 */
border-radius: 5px;
/* 圆角 */
border: 1px solid #ddd;
/* 边框 */
max-width: 600px;
/* 设置最大宽度 */
overflow-y: auto;
/* 添加纵向滚动条 */
max-height: 500px;
/* 设置最大高度 */
}
#content {
display: flex;
justify-content: center;
}
</style>
<head>
<meta charset="UTF-8">
<meta name="viewport" content="width=device-width, initial-scale=1.0">
<meta http-equiv="X-UA-Compatible" content="ie=edge">
<title>ARIO</title>
<link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/bulma/0.9.3/css/bulma.min.css">
<link rel="stylesheet" href="styles.css"> <!-- 根据需要添加自定义样式表 -->
</head>
<body>
<section class="hero">
<div class="hero-body">
<div class="container">
<div class="columns is-centered">
<div class="column is-two-thirds is-centered has-text-centered">
<h1 class="title is-1 publication-title">ARIO</h1>
<h2 class="subtitle is-2 publication-subtitle">All Robots In One</h2>
<div class="is-size-4 publication-authors">
<span class="author-block">
<a href="https://openi.pcl.ac.cn/">Peng Cheng Laboratory</a>
<a href="https://github.com/agilexrobotics?tab=repositories">AgileX Robotics</a><br>
<a href="">Sun Yat-sen University</a>
<a href="">Southern University of Science and Technology</a><br>
<a href="">The University of Hong Kong</a>
<a href="">Technical University of Munich</a>
<a href="">Dataa Robotics</a>
<a href="">D-Robotics</a>
</span>
</div>
<img src="./files/logo.png" style="width: 80%;">
</div>
</div>
<div class="column has-text-centered">
<div class="publication-links">
<span class="link-block">
<a href="./index.html" class="external-link button is-normal is-rounded is-dark" target="_blank">
<span class="icon">
<i class="fas fa-language"></i>
</span>
<span>中文</span>
</a>
</span>
<span class="link-block">
<a target="_blank" href="EN.pdf" class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<svg class="svg-inline--fa fa-file-pdf fa-w-12" aria-hidden="true" focusable="false" data-prefix="fas"
data-icon="file-pdf" role="img" xmlns="http://www.w3.org/2000/svg" viewBox="0 0 384 512"
data-fa-i2svg="">
<path fill="currentColor"
d="M181.9 256.1c-5-16-4.9-46.9-2-46.9 8.4 0 7.6 36.9 2 46.9zm-1.7 47.2c-7.7 20.2-17.3 43.3-28.4 62.7 18.3-7 39-17.2 62.9-21.9-12.7-9.6-24.9-23.4-34.5-40.8zM86.1 428.1c0 .8 13.2-5.4 34.9-40.2-6.7 6.3-29.1 24.5-34.9 40.2zM248 160h136v328c0 13.3-10.7 24-24 24H24c-13.3 0-24-10.7-24-24V24C0 10.7 10.7 0 24 0h200v136c0 13.2 10.8 24 24 24zm-8 171.8c-20-12.2-33.3-29-42.7-53.8 4.5-18.5 11.6-46.6 6.2-64.2-4.7-29.4-42.4-26.5-47.8-6.8-5 18.3-.4 44.1 8.1 77-11.6 27.6-28.7 64.6-40.8 85.8-.1 0-.1.1-.2.1-27.1 13.9-73.6 44.5-54.5 68 5.6 6.9 16 10 21.5 10 17.9 0 35.7-18 61.1-61.8 25.8-8.5 54.1-19.1 79-23.2 21.7 11.8 47.1 19.5 64 19.5 29.2 0 31.2-32 19.7-43.4-13.9-13.6-54.3-9.7-73.6-7.2zM377 105L279 7c-4.5-4.5-10.6-7-17-7h-6v128h128v-6.1c0-6.3-2.5-12.4-7-16.9zm-74.1 255.3c4.1-2.7-2.5-11.9-42.8-9 37.1 15.8 42.8 9 42.8 9z">
</path>
</svg><!-- <i class="fas fa-file-pdf"></i> Font Awesome fontawesome.com -->
</span>
<span><b>PDF</b></span>
</a>
<a target="_blank" href="https://github.com/agilexrobotics/cobot_magic"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<svg class="svg-inline--fa fa-github fa-w-16" aria-hidden="true" focusable="false" data-prefix="fab"
data-icon="github" role="img" xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"
data-fa-i2svg="">
<path fill="currentColor"
d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z">
</path>
</svg><!-- <i class="fab fa-github"></i> Font Awesome fontawesome.com -->
</span>
<span><b>Hardware Code</b></span>
</a>
<a target="_blank" href="https://github.com/agilexrobotics/mobile_aloha_sim"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<svg class="svg-inline--fa fa-github fa-w-16" aria-hidden="true" focusable="false" data-prefix="fab"
data-icon="github" role="img" xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"
data-fa-i2svg="">
<path fill="currentColor"
d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z">
</path>
</svg><!-- <i class="fab fa-github"></i> Font Awesome fontawesome.com -->
</span>
<span><b>Simulation</b></span>
</a>
<a target="_blank" href="https://openi.pcl.ac.cn/ARIO/Songling_datasets/datasets"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<svg class="svg-inline--fa fa-github fa-w-16" aria-hidden="true" focusable="false" data-prefix="fab"
data-icon="github" role="img" xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"
data-fa-i2svg="">
<path fill="currentColor"
d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z">
</path>
</svg><!-- <i class="fab fa-github"></i> Font Awesome fontawesome.com -->
</span>
<span><b>Dataset</b></span>
</a>
<a target="_blank" href="https://github.com/ario-dataset/ARIO-dataset-agilex"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<svg class="svg-inline--fa fa-github fa-w-16" aria-hidden="true" focusable="false" data-prefix="fab"
data-icon="github" role="img" xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"
data-fa-i2svg="">
<path fill="currentColor"
d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z">
</path>
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</span>
<span><b>Dataset Tools</b></span>
</a>
</span>
</div>
</div>
</div>
</div>
</section>
<section class="section">
<div class="container">
<div class="columns is-centered has-text-centered">
<div class="column is-two-thirds">
<h2 class="title is-2">Project Background</h2>
<div class="content has-text-justified">
<p>
Embodied intelligence currently leads the artificial intelligence field, seen as the essential pathway to
achieving general artificial intelligence. Developed countries, led by the United States, along with major
technology players like OpenAI and NVIDIA, have recognized embodied intelligence as a critical strategic
direction, investing substantial resources into its advancement. At the same time, China's related
industries and some leading research institutions are also devoting efforts to embodied intelligence. For
example, companies like AgileX Robotics, which offer hardware support for Stanford projects <a
href="https://mobile-aloha.github.io">Mobile Aloha</a>, actively engage in and promote Chinese research
initiatives and the application of findings in related areas.<br> <br>
In the era of large-scale models, enhancing model performance relies on augmenting data volume and
expanding model scale. Establishing the groundwork for large-scale embodied intelligence models and
creating an extendable platform for embodied intelligence applications necessitates an open-source,
extensive, and high-quality dataset for robot perception and operation. Much like ImageNet from Stanford
University has catalyzed research in computer vision, integral to national strategic technological
prowess, we aim to utilize the "China Computing Power Network" and the "Openi" open-source ecosystem to
spearhead the development of an equally impactful open-source dataset in embodied intelligence, named ARIO
(All Robots In One).
</p>
</div>
</div>
</div>
</div>
</section>
<section class="section">
<div class="container">
<h2 class="title is-2" style="text-align: center;">Cases</h2>
<div class="columns is-centered">
<div class="column is-two-fifths is-centered has-text-centered">
<video controls="" autoplay="" loop="" muted="" playsinline="" src="./files/twist_button.mp4"
poster="./resources/loading-icon.gif"
style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;"></video>
</div>
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<video controls="" autoplay="" loop="" muted="" playsinline="" src="./files/inference.mp4"
poster="./resources/loading-icon.gif"
style="border: 1px solid #bbb; border-radius: 10px; margin: 1.0%;"></video>
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<h2 class="title is-2">Data collection</h2>
<div class="content has-text-justified">
<p>
The overall data file structure is divided into: collection-series-task-episode. Collection refers to the
data set sample submitted and uploaded at one time, which may contain different scenes and robot types.
Series refers to the same scene and the same robot collected A series of data, such as a series of data
collected by a dual-arm robot in the kitchen, may include different tasks. Task is a specific task, such
as grabbing apples. The same task can be collected repeatedly multiple times. Episode is a specific task.
Complete collection process. Under the episode, sensors collect data. Each sensor can collect data by
itself according to its own frequency, but it must be based on the same timestamp. The sample file
structure is as follows:
</p>
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<div id="content" class="content">
<pre>
collection (sample of data set submitted at one time)
│ commit.yaml (Author information and declaration)
│
├─series-1 (Same scene, same robot)
│ │ calibration_1.yaml (Camera1 calibration parameters)
│ │ calibration_cam1_lidar1.yaml (Camera1 and Lidar1 calibration parameters)
│ │ IMU.pdf (IMU instruction)
│ │ information.yaml (Scene description, robot information and other sensor numbers and information)
│ │ touch.pdf (Touch sensor instruction)
│ │ AgileX Robots instruction.pdf
│ │
│ ├─task-1 (A task. For example: Pick up an Apple)
│ │ │ description.yaml（instruction）
│ │ │ task_record.mp4 (Video of each task)
│ │ │
│ │ ├─episode-1 (A whole data collection process)
│ │ │ │ audio-1-1709554382234.aac (Audio data)
│ │ │ │ base.txt (Mobile base motion data)
│ │ │ │ IMU-1.txt (IMU data)
│ │ │ │ left_master_arm_joint-0.txt (Data of left master arm joint-0)
│ │ │ │ left_master_gripper.txt (Data of left master gripper)
│ │ │ │ left_slave_arm_joint-0.txt (Data of left slave arm joint-0)
│ │ │ │ left_slave_gripper.txt (Data of left slave gripper)
│ │ │ │ pan_tilt.txt (Data of pan tilt)
│ │ │ │ right_master_arm_joint-5.txt (Data of right master arm joint-5)
│ │ │ │ right_master_gripper.txt (Data of right master gripper)
│ │ │ │ right_slave_arm_joint-5.txt (Data of right slave arm joint-5)
│ │ │ │ right_slave_gripper.txt (Data of right slave gripper)
│ │ │ │
│ │ │ ├─cam-1 (Images recorded by camera 1. The collecting frame should >=30 FPS)
│ │ │ │ 1709554382234.png
│ │ │ │ 1709554383638.png
│ │ │ │
│ │ │ ├─cam-2
│ │ │ │ 1709554382234.png
│ │ │ │ 1709554383638.png
│ │ │ │
│ │ │ ├─lidar-1 (PCD collected by Lidar1. xyz unit: m)
│ │ │ │ 1709554382234.ply
│ │ │ │ 1709554382334.ply
│ │ │ │
│ │ │ ├─lidar-2
│ │ │ │ 1709554382235.ply
│ │ │ │ 1709554382354.ply
│ │ │ │
│ │ │ ├─rgbd-1 (PCD Data collected by rgbd 1)
│ │ │ │ 1709554382234.ply
│ │ │ │ 1709554383630.ply
│ │ │ │
│ │ │ └─touch-1 (Touch sensor1 data)
│ │ │ 1709554382234.txt
│ │ │
│ │ └─episode-2
│ └─task-2
│ │ description.yaml
│ │ task_record.mp4
│ │
│ └─episode-1
│
└─series-2
│ information.yaml
│ AgileX robot2 instruction.pdf
│
└─task-1
│ description.yaml
│ task_record.mp4
│
└─episode-1
</pre>
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