CLARU
ganatrask2026MIT

DR_dataset

Simulated robot manipulation dataset containing 200 episodes of a Trossen WXAI robotic arm performing food transfer tasks in MuJoCo simulation with domain randomization.

Downloads2K
Episodes200

Why This Matters for Physical AI

This dataset demonstrates domain randomization techniques for sim-to-real transfer in robotic manipulation, enabling imitation learning models to generalize from simulation to real-world robotic systems.

Technical Profile

Modalities
rgbproprioception
Robot Embodiments
Trossen WXAI
Action Space
joint_positions
Environment
simulation
Task Types
manipulationpick_and_placepouring
Episodes
200
Data Format
HDF5
Annotation Types
action_labelsreward_labels
License
MIT
Part of the DR_dataset family

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