CLARU
oxe-augecc-by-4.0

fractal20220817_data_train_52500_55000_augmented

An augmented robotics dataset containing 2,500 episodes with multi-robot visual and kinematic observations across 8 robot embodiments (Jaco, Kinova3, KUKA IIWA, Panda, Sawyer, UR5e, xArm7). The dataset includes natural language instructions and end-effector poses rendered for cross-embodiment policy learning.

Downloads213

Technical Profile

Modalities
rgbproprioceptionlanguage
Robot Embodiments
JacoKinova3KUKA IIWAPandaSawyerUR5exArm7
Environment
lab
Task Types
manipulation
Data Format
parquet
License
cc-by-4.0
Part of the fractal20220817_data_train_52500_55000_augmented 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

OmniAction

A large-scale multimodal dataset for proactive robot manipulation comprising 141,162 episodes across 112 skills and 748 objects, enriched with audio, visual, and contextual instruction data for cross-modal intention recognition.

rgbaudiolanguage
162K downloadsMar 2026cc-by-nc-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
110K downloadsApr 2026other

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
97K downloadsMar 2026cc-by-nc-4.0

OmniAction

A large-scale multimodal dataset for proactive robot manipulation with 141,162 episodes covering contextual instruction following through spoken dialogue, environmental sounds, and visual cues.

rgbaudiolanguage
82K downloadsApr 2026cc-by-nc-4.0

OmniAction

A large-scale multimodal dataset for proactive robot manipulation with 141,162 episodes covering contextual instruction following through spoken dialogue, environmental sounds, and visual cues. The dataset includes 5,096 distinct speaker timbres, 2,482 non-verbal sound events, and 640 environmental backgrounds across six categories of contextual instructions.

rgbaudiolanguage
77K downloadsApr 2026cc-by-nc-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
75K downloadsMay 2026cc-by-4.0