CLARU
OpenGalaxea2025cc-by-nc-sa-4.0

Galaxea Open-World Dataset

A large-scale real-world mobile manipulation dataset containing 500+ hours of dual-arm robot data collected across residential, kitchen, retail, and office environments with fine-grained language annotations.

Downloads23K
Hours500+
Likes43

Why This Matters for Physical AI

This dataset provides large-scale real-world mobile manipulation data with language annotations, enabling training of vision-language-action models for open-world robotic task understanding and execution.

Technical Profile

Modalities
rgbdepthproprioceptionlanguage
Robot Embodiments
mobile_manipulator
Action Space
joint_positions
Environment
residentialkitchenretailoffice
Task Types
manipulationmobile_manipulation
Total Hours
500+
Data Format
RLDS
Annotation Types
language_instructions
License
cc-by-nc-sa-4.0
Part of the Galaxea Open-World Dataset family

Community Signals

Top 5% by downloads

Access

View on HuggingFaceRead Paper

Need custom rgb data?

Claru builds purpose-built datasets for residential 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
2.3M downloadsother

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
118K downloads2026cc-by-4.0

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
76K downloads2026cc-by-4.0

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
71K downloadsCC BY-NC-SA 4.0

PhysicalAI-Robotics-Manipulation-Kitchen-Demos

A large-scale dataset of 600 hours of human-teleoperated demonstrations across 316 different kitchen manipulation tasks, totalling 55k trajectories collected using a Franka Panda robot with an Omron mobile base.

rgbproprioception
57K downloads2025cc-by-4.0

ManiTwin-100K: Manipulation-Ready Digital Object Twins

A large-scale dataset of 100K manipulation-ready digital object twins with simulation-ready 3D meshes, physical properties, functional point annotations, grasp configurations, and language descriptions validated through physics-based simulation.

3d_meshlanguage
45K downloads2026cc-by-nc-4.0