CLARU
oxe-augecc-by-4.0

fractal20220817_data_train_80000_82500_augmented

An augmented robotics dataset containing 2,500 episodes with cross-embodiment visual and proprioceptive data for 8 robot platforms (Jaco, Kinova3, KUKA IIWA, Franka Panda, Sawyer, UR5e, xArm7) with natural language task instructions.

Downloads71

Technical Profile

Modalities
rgbproprioceptionlanguage
Robot Embodiments
JacoKinova3KUKA IIWAFranka PandaSawyerUR5exArm7
Task Types
manipulation
Data Format
parquet
License
cc-by-4.0
Part of the fractal20220817_data_train_80000_82500_augmented family

Access

View on HuggingFace

Need custom rgb data?

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

Request a Sample Pack

Related Datasets

CRCD-dVRK-LeRobot

18 episodes of robot-assisted cholecystectomy on pig liver using the da Vinci Research Kit (dVRK) in LeRobot v3.0 format. Converted from the CRCD dataset with stereo endoscopic video and kinematic state/action data.

rgbproprioception
null downloadsApr 2026cc-by-4.0

BuggyBrain

A robotics dataset created using LeRobot containing 64 episodes of robot manipulation data with multi-camera observations and joint position actions.

rgbproprioception
null downloadsApr 2026apache-2.0

UMI-3D Dataset (Curtain)

Demonstration dataset for the UMI-3D curtain manipulation task, containing RGB images and robot state paired with end-effector and gripper trajectories.

rgbproprioception
null downloadsApr 2026MIT

UMI-3D Dataset (Cup)

Demonstration data for cup manipulation task in UMI-3D, containing RGB observations, end-effector trajectories, gripper states, and action sequences.

rgbproprioception
null downloadsApr 2026mit

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 downloadsMar 2026other

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
181K downloadsApr 2026CC BY-NC-SA 4.0