CLARU
robonarCC-BY-4.0

RONAR (RoboNar Dataset)

A real-world multimodal dataset paired with natural language narrations collected on a Stretch SE3 mobile manipulator performing household tasks in home environments. The dataset supports behavior transparency, risk estimation, and failure recovery with annotated failure cases and expert-labeled recovery instructions.

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Technical Profile

Modalities
rgbdepthproprioceptionlanguageodometry
Robot Embodiments
Stretch SE3
Environment
homekitchenliving roomhallway
Task Types
manipulationnavigationgraspingobject_detectionpick_and_place
Data Format
ROSBAG
License
CC-BY-4.0
Part of the RONAR (RoboNar Dataset) family

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