CLARU
jaeikkimapache-2.0

FR3 Cube MimicGen 10K

A synthetic dataset of 10,000 episodes of cube-stacking tasks collected using the Franka FR3 robot in Isaac Sim via the LeRobot framework.

Downloads0
Episodes10000

Why This Matters for Physical AI

This synthetic manipulation dataset provides large-scale demonstrations of dexterous cube-stacking behavior for training imitation learning models on standardized hardware platforms.

Technical Profile

Modalities
rgbproprioception
Robot Embodiments
Franka FR3
Action Space
end_effector_delta
Environment
simulation
Task Types
manipulationcube-stacking
Episodes
10000
Data Format
parquet
License
apache-2.0
Part of the LeRobot 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

community_dataset_v2_v3

Community-contributed robotics datasets migrated to LeRobot v3.0 format for direct loading with lerobot ≥ 0.4. Contains 323 sub-datasets with 12,179 episodes across multiple robot platforms and tasks.

rgbproprioception
3K downloadsJul 2026apache-2.0

pick-cube-2026-07-14

Teleoperated SO-101 demonstrations of a tabletop pick-and-place task with 220 episodes collected in two paradigms: discrete ring positions and continuous workspace coverage, recorded with three cameras at 30 fps.

rgbproprioception
413 downloadsJul 2026apache-2.0

Harvest Apples with AGILex Piper Sim DAGGER

A robotics dataset of apple-picking tasks collected using the Piper robot platform with sim-to-real transfer via DAGGER (Dataset Aggregation). The dataset contains 706 episodes of manipulation trajectories recorded at 25 fps with multi-view RGB observations and joint state information.

rgbproprioception
361 downloadsJun 2026apache-2.0

g1_final_cleaned-augmented

No description available.

144 downloadsJul 2026

USForce

A robotics dataset created using LeRobot containing 90 episodes of UR robot manipulation tasks with multi-modal observations including RGB images from base, wrist, and ultrasound cameras, proprioceptive state, and force-torque feedback.

rgbproprioceptionforce_torquelanguage
138 downloadsAug 2026apache-2.0

LeRobot Panda Grasping Dataset

A robotics dataset collected using LeRobot framework with a Franka Panda robot performing grasping tasks. Contains 50 episodes with multi-view RGB images and proprioceptive state information.

rgbproprioception
123 downloadsFeb 2026apache-2.0