CLARU
clamp-benchmarkcc-by-4.0

CLAMP Benchmark

A sim-to-real benchmark for kinematic pose estimation and assembly reasoning on mechanically diverse equipment, featuring closed-loop kinematic chains, prismatic joints, and structural assembly perturbations across seven pieces of industrial and hobbyist equipment.

Downloads178

Technical Profile

Modalities
rgbdepthsegmentationcamera_posecamera_intrinsics
Robot Embodiments
robot_armquadrupedcartesian_3d_printercnc_routerdelta_3d_printerhydraulic_jacktable_saw
Environment
labsimulation
Task Types
keypoint_detectionimage_classificationpose_estimationkinematic_pose_estimationassembly_reasoningobject_detection
Data Format
json
License
cc-by-4.0
Part of the CLAMP Benchmark 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

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
389K downloadsApr 2026CC BY-NC-SA 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
184K downloadsApr 2026other

Egocentric-100K

The largest dataset of manual labor with 100,405 hours of egocentric video from head-mounted fisheye cameras, featuring state-of-the-art hand visibility and active manipulation density.

rgbvideo
75K downloadsFeb 2026apache-2.0

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
48K downloadsMar 2026cc-by-nc-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
47K downloadsMar 2026cc-by-nc-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
47K downloadsMar 2026cc-by-4.0