CLARU
allenaiMIT

PRISM

A large-scale synthetic dataset for task-oriented grasping featuring 379k task-grasp samples in cluttered environments with diverse task descriptions. The dataset uses 2365 object instances from ShapeNet-Sem and stable grasps from ACRONYM across 10,000 unique scenes with multiple views.

Downloads139
Episodes379000
Likes5

Why This Matters for Physical AI

PRISM provides a large-scale synthetic benchmark for training task-oriented grasp prediction models with paired natural language task descriptions, enabling research in vision-language reasoning for robotic manipulation.

Technical Profile

Modalities
rgbpoint_cloudsegmentationlanguage
Environment
simulation
Task Types
graspingtask-oriented-graspingmanipulation
Episodes
379000
Data Format
HDF5
Annotation Types
language_instructionsgrasp_descriptionsobject_descriptionssegmentationgrasp_poses
License
MIT
Part of the PRISM family

Community Signals

Access

View on HuggingFaceRead Paper

Need custom rgb data?

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

Request a Sample Pack

Related Datasets

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
2.3M downloadsother

Open-H-Embodiment

A multi-embodiment community-driven dataset of paired kinematics and video for training AI autonomy models in surgical robotics and ultrasound applications. The dataset includes tabletop exercises, clinical procedures, and simulations of healthcare robotics tasks.

rgbproprioception
118K downloads2026cc-by-4.0

Open-H-Embodiment

A community-driven, multi-embodiment dataset of paired kinematics and video for training and evaluating AI autonomy models in surgical robotics and ultrasound applications, including tabletop exercises, clinical procedures, and healthcare robotics simulations.

rgbproprioception
76K downloads2026cc-by-4.0

LingBot-Depth Dataset

Self-curated RGB-D dataset for training masked depth modeling approaches, containing real-world indoor scenes, VLA robot manipulation tasks, and simulated data across multiple camera types and robot platforms.

rgbdepth
71K downloadsCC BY-NC-SA 4.0

PhysicalAI-Robotics-Manipulation-Kitchen-Demos

A large-scale dataset of 600 hours of human-teleoperated demonstrations across 316 different kitchen manipulation tasks, totalling 55k trajectories collected using a Franka Panda robot with an Omron mobile base.

rgbproprioception
57K downloads2025cc-by-4.0

ManiTwin-100K: Manipulation-Ready Digital Object Twins

A large-scale dataset of 100K manipulation-ready digital object twins with simulation-ready 3D meshes, physical properties, functional point annotations, grasp configurations, and language descriptions validated through physics-based simulation.

3d_meshlanguage
45K downloads2026cc-by-nc-4.0