RoboMIND
X-HumanoidRoboMIND is a real-world robot manipulation dataset from the Beijing Innovation Center of Humanoid Robotics (X-Humanoid), recorded by teleoperation on several robot bodies. Version 1 has about 107k trajectories on a Franka arm, a UR5e arm, an AgileX dual-arm robot and the Tien Kung humanoid; RoboMIND 2.0 scales to 310k trajectories and over 1,000 hours on six embodiments, with tactile and mobile-manipulation data.
Version 1 (now 1.2) is on the Hugging Face Hub behind an automatic contact-details gate. RoboMIND 2.0 is published only on ModelScope (X-Humanoid/RoboMIND2.0 and its per-robot sub-repositories), whose README links back to version 1 on the Hub and on ModelScope as RoboMIND 1.0, so both are one line. Both are Apache-2.0.
Openness
5 medium confidence- license
- apache-2.0(RoboMIND 2.0 on ModelScope
- access
- public(RoboMIND 2.0 files download from ModelScope without an account
- dataset_card
- present
The current release, RoboMIND 2.0, is Apache-2.0 and downloads from ModelScope without an account or an approval step. The earlier version on Hugging Face asks for contact details first; it belongs to the earlier release and does not lower the score.
- https://huggingface.co/api/datasets/x-humanoid-robomind/RoboMIND?expand[]=downloads&expand[]=likes&expand[]=cardData&expand[]=lastModified&expand[]=gated recorded 2026-09-27
Hub API for x-humanoid-robomind/RoboMIND (version 1): cardData license apache-2.0, gated auto.
- https://modelscope.cn/api/v1/datasets/X-Humanoid/RoboMIND2.0 recorded 2026-09-27
ModelScope dataset record for X-Humanoid/RoboMIND2.0: License "Apache License 2.0", public visibility, created 2026-01-04.
- https://modelscope.cn/api/v1/datasets/X-Humanoid/RoboMIND2.0-UR5-Dex/repo/tree?Revision=master&Root=data&Recursive=true&PageSize=20 recorded 2026-09-27
File tree of the RoboMIND2.0-UR5-Dex sub-repository listed without an account; a trajectory.hdf5 in it answered an anonymous ranged download with 206 Partial Content.
- https://modelscope.cn/api/v1/datasets/X-Humanoid/RoboMIND2.0/repo?Revision=master&FilePath=README.md recorded 2026-09-27
RoboMIND 2.0 README, served without an account: "RoboMIND2.0 scales up to 310K trajectories, totaling over 1,000 hours"; "6 popular robotic embodiments"; links the Hugging Face copy as RoboMIND 1.0.
Adoption
3 low confidenceHugging Face downloads of version 1, the only countable monthly channel. RoboMIND 2.0 is on ModelScope, which reports all-time totals only.
- https://huggingface.co/api/datasets/x-humanoid-robomind/RoboMIND?expand[]=downloads&expand[]=likes&expand[]=cardData&expand[]=lastModified&expand[]=gated recorded 2026-09-27
Hub API for x-humanoid-robomind/RoboMIND: 58,040 downloads in the trailing 30 days.
Capability
4 medium confidenceRoboMIND 2.0 is a third the size of AgiBot World but spread across six robot bodies from several makers, humanoids included, all of it real teleoperation. That puts it level with AgiBot World: far beyond a single-platform set like DROID, and well short of the million-trajectory, twenty-plus-embodiment pool of Open X-Embodiment.
- https://arxiv.org/abs/2512.24653 recorded 2026-09-27
RoboMIND 2.0 abstract: "over 310K dual-arm manipulation trajectories collected across six distinct robot embodiments and 739 complex tasks".
- https://huggingface.co/datasets/x-humanoid-robomind/RoboMIND recorded 2026-09-27
Version 1 card: "107k real-world demonstration trajectories spanning 479 distinct tasks"; 52,926 Franka, 19,152 Tien Kung humanoid, 10,629 AgileX Cobot Magic V2.0 and 25,170 UR-5e trajectories.
- https://modelscope.cn/api/v1/datasets/X-Humanoid/RoboMIND2.0/repo?Revision=master&FilePath=README.md recorded 2026-09-27
RoboMIND 2.0 README: "310K trajectories, totaling over 1,000 hours"; "12K tactile-enriched sequences"; "20K mobile manipulation trajectories"; "6 popular robotic embodiments".
Verified 2026-09-27