CLARU
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nyu_franka_play_dataset_train_augmented

An augmented version of the NYU Franka Play dataset with robot morphology transfer across 9 different robot embodiments (google_robot, jaco, kinova3, kuka_iiwa, sawyer, ur5e, widowX, xarm7) using visual and kinematic augmentation. The dataset contains 365 episodes with 34,448 frames of RGB images, joint positions, end-effector poses, and natural language instructions.

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Technical Profile

Modalities
rgbproprioceptionlanguage
Robot Embodiments
google_robotjacokinova3kuka_iiwasawyerur5ewidowXxarm7
Environment
lab
Task Types
manipulation
Data Format
parquet
License
cc-by-4.0
Part of the nyu_franka_play_dataset_train_augmented family

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