CLARU
CoRL2026-CSIapache-2.0

CoRL2026-CSI UR7e-CaP arrange_block

A robotics dataset containing 100 episodes of a UR7e robot performing block arrangement tasks using code-as-policies approach, with multi-view RGB observations and joint-level proprioceptive state and action data.

Downloads22
Episodes100

Why This Matters for Physical AI

This dataset enables research in code-as-policies learning and skill-based manipulation by providing multi-modal observations with structured goal representations and natural language instructions for robotic block arrangement tasks.

Technical Profile

Modalities
rgbproprioception
Robot Embodiments
UR7e
Action Space
joint_positions
Environment
lab
Task Types
manipulationblock_arrangement
Episodes
100
Data Format
LeRobot
Annotation Types
language_instructionsskill_typeskill_progressgoal_position
License
apache-2.0
Part of the CoRL2026-CSI family

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
395K 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
150K 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
86K 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
69K downloadsMar 2026cc-by-nc-4.0

Replica_OCC

A Replica-based occupancy benchmark providing RGB-D sequences and scene-level occupancy ground truth for evaluating embodied occupancy prediction systems.

rgbdepthsemantic_segmentation
31K downloadsMay 2026apache-2.0

MolmoBot-data

Training episode data including actions, visual inputs, and sensor data for 8 manipulation tasks across 2 robotic platforms (Franka Panda and RBY1).

rgbproprioceptionmulti_view_video
30K downloadsMar 2026odc-by