CLARU
agnesluhtaruother

OXE Magic Soup++ Natural Language Commands

Per-step natural-language instructions extracted from datasets in the OpenVLA oxe_magic_soup_plus mixture of Open X-Embodiment (OXE). The dataset contains language annotations for robot manipulation tasks across multiple source datasets.

Downloadsnull

Technical Profile

Modalities
language
Robot Embodiments
UR5FrankaKUKAJacoStretch
Environment
labkitchen
Task Types
manipulationpick_and_placecable_routingfurniture_assembly
Data Format
CSV
License
other
Part of the OXE Magic Soup++ Natural Language Commands family

Access

View on HuggingFace

Need custom language data?

Claru builds purpose-built datasets for lab applications with dense human annotations and quality assurance.

Request a Sample Pack

Related Datasets

Robo-MLT: Medical Laboratory Manipulation Datasets

Real-robot teleoperated demonstrations for two long-horizon medical laboratory workflows (blood gas analysis and tube sorting) collected on an Agilex dual-arm Static-Aloha platform with vision-language-action supervision.

rgbproprioceptionlanguage
null downloadsJul 2026apache-2.0gated

PrimeBot Household Bimanual Manipulation Challenge Dataset

Real-world teleoperation dataset for dual-arm household manipulation tasks with frame-accurate language annotations, including over 12 manipulation tasks in household scenarios.

rgbproprioceptionlanguage
306K downloadsSep 2026cc-by-sa-4.0

HiFi-UMI-2K: High-Fidelity Robot-Free Manipulation Data

A large-scale dataset of 2,000 hours of high-fidelity bimanual human manipulation demonstrations collected robot-free using the HiFi-UMI capture system, designed for action-grounded supervision for manipulation policy pre-training and deployment without requiring a robot during data collection.

rgbimuproprioceptionlanguage
141K downloadsJul 2026cc-by-4.0

Xperience-10M

A large-scale egocentric multimodal dataset of human experience containing 10 million interactions and 10,000 hours of synchronized first-person recordings with six video streams, audio, stereo depth, camera pose, hand mocap, full-body mocap, IMU, and hierarchical language annotations for embodied AI, robotics, and world modeling research.

rgbaudiodepthproprioception+3
96K downloadsApr 2026other

Hy-Embodied-0.5-VLA-Data

A large-scale bimanual manipulation dataset with 2,163 hours of high-fidelity demonstrations collected via custom fingertip UMI device with optical motion-capture, spanning 70+ manipulation tasks for training Vision-Language-Action foundation models.

rgbproprioceptionlanguage
82K downloadsJul 2026cc-by-4.0

ACE-Data-0

A human-centric ambient capture dataset recording real home environments with synchronized multi-modal streams including egocentric video, exocentric video, human motion, object state, audio, and tactile sensing for embodied AI research.

rgbdepthimuaudio+3
64K downloadsSep 2026ace-data-0-research-license