CLARU
kanishqgandharvapache-2.0

Open Locomotion Skills Dataset (OLSD) v0.1

A unified benchmark dataset for legged robot locomotion across diverse morphologies, providing expert, random, and domain-randomized trajectories collected from MuJoCo/Gymnasium environments.

Downloads3K
Likes1

Technical Profile

Modalities
proprioception
Robot Embodiments
HalfCheetahAntWalker2dHopper
Environment
simulation
Task Types
locomotion
Data Format
Parquet
License
apache-2.0
Part of the Open Locomotion Skills Dataset (OLSD) v0.1 family

Community Signals

Top 25% by downloads

Access

View on HuggingFace

Need custom proprioception data?

Claru builds purpose-built datasets for simulation applications with dense human annotations and quality assurance.

Request a Sample Pack

Related Datasets

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
127K downloadsApr 2026other

Open-H-Embodiment

A community-driven, multi-embodiment dataset of paired kinematics and video for training and evaluating AI autonomy models in surgical robotics and ultrasound applications, including tabletop exercises, clinical procedures, and healthcare robotics simulations.

rgbproprioception
63K downloadsMay 2026cc-by-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
32K downloadsMar 2026cc-by-4.0

TartanGround

A large-scale, multi-modal dataset designed to advance perception and autonomy of ground robots operating in diverse environments, collected across 63 photorealistic simulation environments with over 1.44 million samples from 878 trajectories.

rgbdepthsemantic_segmentationoptical_flow+5
32K downloadsOct 2025cc-by-4.0

GNN Disassembly World Model Dataset

Real robot disassembly episodes with per-view constraint graphs, SAM2 segmentation masks, 3D positions, and synchronized robot states collected using a UR5e manipulator disassembling desktop motherboards.

rgbdepthproprioceptionsegmentation
30K downloadsMay 2026cc-by-4.0

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
27K downloadsMar 2026odc-by