CLARU
chaoqi-liu

mshab_settable

LeRobot-format conversion of the MS-HAB SetTable subtasks dataset containing 8000 episodes of simulated manipulation tasks with a Fetch robot performing picking, placing, and opening/closing furniture drawers and fridges.

Downloads0
Episodes8000

Why This Matters for Physical AI

This dataset provides diverse manipulation task demonstrations from a mobile manipulator in simulation, enabling training of imitation learning models for household object interaction and furniture manipulation tasks.

Technical Profile

Modalities
rgbproprioception
Robot Embodiments
Fetch
Action Space
joint_positions
Environment
simulation
Task Types
manipulationgraspingpick_and_place
Episodes
8000
Data Format
LeRobot
Annotation Types
action_labels
Part of the MS-HAB family

Access

View on HuggingFace

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

mshab_settable_w_depth

LeRobot-format conversion of the MS-HAB SetTable dataset containing 8,000 episodes of simulated Fetch robot manipulation tasks with RGB and depth observations.

rgbdepthproprioception
0 downloadsApr 2026

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
876K downloadsApr 2026other

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
287K downloadsApr 2026CC BY-NC-SA 4.0

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
127K downloadsMar 2026cc-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
63K downloadsMar 2026cc-by-nc-4.0

OmniAction

A large-scale multimodal dataset for proactive robot manipulation comprising 141,162 episodes across 112 skills and 748 objects, enriched with audio, visual, and contextual instruction data for cross-modal intention recognition.

rgbaudiolanguage
49K downloadsMar 2026cc-by-nc-4.0