AgiBot-World
[IROS 2025 Best Paper Award Finalist & IEEE TRO 2026] The Large-scale Manipulation Platform for Scalable and Intelligent Embodied Systems
File Explorer
- FUNDING.yml
- agilex_fold_shirts.gif
- Contact-rich_manipulation.gif
- dataset_visualization.gif
- franka_fold_shirts.gif
- g1_fold_shirts.gif
- Long-horizon_planning.gif
- Multi-robot_collaboration.gif
- agilex_dataset_filter.py
- agilex_features.py
- agilex_inference.py
- convert_agilex_data_to_lerobot.py
- README.md
- convert_libero_data_to_lerobot.py
- eval_libero.sh
- main.py
- README.md
- deploy.py
- openloop_eval.py
- go1_air_sft_agilex.py
- go1_air_sft_libero.py
- go1_base_cfg.py
- go1_sft_agilex.py
- go1_sft_libero.py
- __init__.py
- configuration_action_expert.py
- configuration_go1.py
- modeling_action_expert.py
- modeling_go1.py
- modeling_internlm2_go1.py
- modeling_latent_action_expert.py
- configuration_internlm2.py
- modeling_internlm2.py
- tokenization_internlm2.py
- tokenization_internlm2_fast.py
- __init__.py
- configuration_intern_vit.py
- configuration_internvl_chat.py
- flash_attention.py
- modeling_intern_vit.py
- modeling_internvl_chat.py
- __init__.py
- flash_attn_utils.py
- __init__.py
- pad_data_collator.py
- __init__.py
- constants.py
- dataset.py
- go1_train.py
- conversation.py
- dist_utils.py
- dataset_lerobot.py
- dataset_transforms.py
- train.sh
- train_dev.sh
- env_parse.py
- zero_stage1_config.json
- zero_stage2_config.json
- zero_stage3_config.json
- visualize_dataset.py
- .flake8
- .gitignore
- .isort.cfg
- .pre-commit-config.yaml
- CONTRIBUTING.md
- pyproject.toml
- README.md
# Installation Guide
pythonSetup Steps
git clone https://github.com/OpenDriveLab/AgiBot-World.git && cd AgiBot-World
Clone the repository and move to the project directory.
conda create -n go1 python=3.10 -y && conda activate go1
Create and activate a conda environment with Python 3.10.
pip install -e .
Install the project and essential packages in editable mode.
Key Commands
pip install -e .
Install the project and its Python dependencies.
MAX_JOBS=4 pip install --no-build-isolation flash-attn==2.4.2
Manually install flash-attn when prebuilt binaries are unavailable.
python scripts/visualize_dataset.py --task-id 390 --dataset-path /path/to/lerobot/format/dataset
Visualize the downloaded dataset.
# Use via CDN
jsDelivrjsDelivr serves any public GitHub repository as a CDN with zero setup. Pick a version and a file to get a ready-to-paste link and snippet.
Command Glossary
Commands referenced in this DOCs, explained below.
conda activate
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conda activate
Activate a conda environment.
See also: `conda deactivate`.
conda activate myenv
Activate an existing environment named `myenv`:
conda activate {{path/to/myenv}}
Activate an existing environment located at custom path:
conda activate --stack myenv
Stack `myenv` environment on top of a previous environment making libraries/commands/variables from both accessible:
conda create
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conda create
Create new conda environments.
conda create {{[-y|--yes]}} {{[-n|--name]}} py39 python=3.9 "numpy>=1.11" scipy
Create a new environment named `py39`, install Python 3.9, NumPy v1.11 or above in it, and the latest stable version of SciPy. Say yes to all confirmations:
conda create {{[-n|--name]}} myenv --file {{file1.yml}} --file {{file2.yml}}
Create a new environment named `myenv` and install packages listed in files:
conda create {{[-p|--prefix]}} {{path/to/myenv}}
Create a new environment at a custom path (i.e. prefix):
git clone
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git clone
Clone an existing repository.
git clone {{remote_repository_location}} {{path/to/directory}}
Clone an existing repository into a new directory (the default directory is the repository name):
git clone --recursive {{remote_repository_location}}
Clone an existing repository and its submodules:
git clone {{[-n|--no-checkout]}} {{remote_repository_location}}
Clone only the `.git` directory of an existing repository:
huggingface-cli
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huggingface-cli
This command is an alias of `hf`.
tldr hf
View documentation for the original command:
pip install
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pip install
Install Python packages.
pip install {{package1 package2 ...}}
Install one or more packages:
pip install {{package1 package2 ...}} {{[-U|--upgrade]}}
Upgrade all specified packages to the latest version, installing any that are not already present:
pip install {{package}}=={{version}}
Install a specific version of a package:
python
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python
Python language interpreter.
python
Start a REPL (interactive shell):
python {{path/to/file.py}}
Execute a specific Python file:
python -i {{path/to/file.py}}
Execute a specific Python file and start a REPL: