CLARU
JiaqiYin2024MIT

Octo UR5/UR3 Dataset

Real-world and simulation robot manipulation datasets for Octo finetuning on UR-series robots, collected via gamepad teleoperation on UR5e and UR3e with Robotiq gripper and Intel Realsense D435 camera.

Downloads0
Episodes98

Why This Matters for Physical AI

This dataset enables training and finetuning of the Octo generalist robot policy on real industrial manipulators, advancing the development of transferable manipulation skills across different UR robot embodiments.

Technical Profile

Modalities
rgbproprioception
Robot Embodiments
UR5eUR3e
Action Space
end_effector_delta
Environment
labsimulation
Task Types
manipulationpick_and_placegrasping
Episodes
98
Data Format
RLDS
Annotation Types
language_instructionsreward_labels
License
MIT
Part of the Octo 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

Controlled ICIL LIBERO Atomic Dataset

A controlled atomic pick-and-place demonstration dataset stored in LeRobot v2 format, featuring LIBERO tasks with systematic variations in layouts and perturbations.

rgbproprioception
null downloadsApr 2026apache-2.0

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
348K 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
244K downloadsApr 2026other

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
111K 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

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
53K downloadsFeb 2026apache-2.0