CLARU
maniguard-review2026cc-by-nc-4.0

ManiGuard demonstrations — Dusty

1,040 automatically generated, monitor-verified safe-success demonstrations across 26 base tasks in the dusty_transfer family with 40 episodes per task. Dataset contains 1,879,498 frames from five 256×256 camera streams at 30 FPS.

Downloads192
Episodes1040
Hours17.4028

Why This Matters for Physical AI

Provides large-scale automatically generated demonstrations with safety verification across diverse manipulation tasks, supporting training of robust manipulation policies with language grounding.

Technical Profile

Modalities
rgbproprioception
Robot Embodiments
FrankaPanda
Action Space
joint_positions
Environment
simulation
Task Types
manipulation
Episodes
1040
Total Hours
17.4028
Data Format
LeRobot
Annotation Types
language_instructions
License
cc-by-nc-4.0
Part of the ManiGuard 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

ManiGuard demonstrations — Clutter

2,200 automatically generated, monitor-verified safe-success demonstrations across 55 base tasks in the clutter_pickup family with 40 episodes per task. Dataset contains five 256×256 camera streams at 30 FPS with 901,520 total frames.

rgb
133 downloadsSep 2026cc-by-nc-4.0

ManiGuard demonstrations — Cabinet

1,400 automatically generated, monitor-verified safe-success demonstrations across 35 base tasks in the cabinet_pickup family with 40 episodes per task. Data includes five 256×256 camera streams at 30 FPS totaling 4,172,962 frames.

rgbproprioception
105 downloadsSep 2026cc-by-nc-4.0

ManiGuard demonstrations — Stack

1,120 automatically generated, monitor-verified safe-success demonstrations across 28 base tasks in the stack_retrieve family, with 40 episodes per task. Dataset contains 2,652,083 frames from five 256×256 camera streams at 30 FPS.

rgb
93 downloadsSep 2026cc-by-nc-4.0

ManiGuard demonstrations — Jar

1,040 automatically generated, monitor-verified safe-success demonstrations across 26 base tasks in the jar_transport family, with 40 episodes per task. Dataset contains 946,870 frames from five 256×256 camera streams at 30 FPS.

rgbproprioception
82 downloadsSep 2026cc-by-nc-4.0

ManiGuard demonstrations — Lid

1,200 automatically generated, monitor-verified safe-success demonstrations across 30 base tasks in the lid_transport family, with 40 episodes per task. Dataset contains 1,055,142 frames from five 256 × 256 camera streams at 30 FPS.

rgbproprioception
68 downloadsSep 2026cc-by-nc-4.0

ManiGuard Grasp Annotations

A curated database of 1,547 annotated 6-DoF grasps over 221 object instances for the Franka Panda gripper, used for automated demonstration generation across six ManiGuard-Bench task families.

50 downloadsAug 2026cc-by-4.0