CLARU
armteamapache-2.0

Crab Manipulation Dataset — Reward Labeled

A collection of 34 teleoperated robot manipulation demonstrations augmented with per-episode reward parameters for Sensitivity-Aware Reward-Weighted Flow Matching training. Includes clean demonstrations across egg placement, jar handling, and waffle manipulation tasks, plus negative examples with damage flags.

Downloads292
Episodes34

Why This Matters for Physical AI

This dataset enables training of tactile-aware manipulation policies that can handle fragile objects with reward weighting based on contact dynamics and damage risk, advancing safe physical interaction in robotic systems.

Technical Profile

Modalities
rgbtactileproprioception
Robot Embodiments
mobile_manipulator
Environment
lab
Task Types
manipulationpick_and_placegrasping
Episodes
34
Data Format
LeRobot
Annotation Types
reward_labelslanguage_instructionsfragility_labelsdamage_flagscontact_analysisgripper_analysis
License
apache-2.0
Part of the Crab family

Community Signals

Top 50% by downloads

Access

View on HuggingFace

Need custom rgb data?

Claru builds purpose-built datasets for lab 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

OmniAction

A large-scale multimodal dataset for proactive robot manipulation comprising 141,162 episodes with cross-modal contextual instructions derived from spoken dialogue, environmental sounds, and visual cues rather than explicit commands.

rgbaudiolanguage
45K downloads2025cc-by-nc-4.0