CLARU
oxe-auge2025cc-by-4.0

iamlab_cmu_pickup_insert_train_500_631_augmented

An augmented dataset of pick-up and insert manipulation tasks from CMU IAM Lab, cross-embodied across 8 different robot platforms using domain randomization techniques. Contains 131 episodes with multi-robot visual and proprioceptive observations.

Downloads161
Episodes131

Why This Matters for Physical AI

This augmented dataset enables cross-embodiment policy learning by providing consistent pick-and-insert task demonstrations across multiple robot platforms with synchronized visual and proprioceptive data, advancing generalization in robotic manipulation.

Technical Profile

Modalities
rgbproprioception
Robot Embodiments
google_robotjacokinova3kuka_iiwasawyerur5ewidowXxarm7
Action Space
joint_positions
Environment
lab
Task Types
pick_and_placeinsertion
Episodes
131
Data Format
parquet
Annotation Types
language_instructions
License
cc-by-4.0
Part of the Open X-Embodiment (OXE-Aug) family

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