CLARU
rohansiva2026

A4D Dataset

Curated image dataset with binary affordance labels across 10 task-relevant object functionalities (e.g., graspable, movable, stackable) for affordance reasoning and planning.

Downloads935
Episodes552

Why This Matters for Physical AI

Provides structured affordance annotations to enable robots to understand object functionalities beyond appearance, supporting reasoning about task-relevant object properties for manipulation and planning.

Technical Profile

Modalities
rgb
Task Types
affordance-reasoningplanning
Episodes
552
Data Format
jsonl
Annotation Types
affordance_labels
Part of the A4D: Functional Latent Spaces for Affordance Reasoning family

Access

View on HuggingFaceRead Paper

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

Curtec/second_20260719_070925

A robotics dataset created using LeRobot containing 10 episodes of robot manipulation data with proprioceptive state and multi-camera RGB video observations.

rgbproprioception
null downloadsJul 2026apache-2.0gated

LeRobot LeLab Move Object Dataset

A robotics manipulation dataset created with LeRobot containing 44 episodes of a robot moving objects, captured at 30 fps with multi-camera observations and joint position actions.

rgbproprioception
null downloadsJul 2026apache-2.0gated

s1312003/addition1_20260721_145600

A robotics dataset created using LeRobot framework containing 10 episodes of robot manipulation trajectories with RGB video observations and joint position actions.

rgbproprioception
null downloadsJul 2026apache-2.0gated

Robo-MLT: Medical Laboratory Manipulation Datasets

Real-robot teleoperated demonstrations for two long-horizon medical laboratory workflows (blood gas analysis and tube sorting) collected on an Agilex dual-arm Static-Aloha platform with vision-language-action supervision.

rgbproprioceptionlanguage
null downloadsJul 2026apache-2.0gated

Test_2_20260714_160610

A robotics dataset created using LeRobot containing teleoperated robot arm manipulation data with RGB video and proprioceptive observations.

rgbproprioception
null downloadsJul 2026apache-2.0gated

test5_100ep_20260727_125004

A robotics dataset created using LeRobot containing 100 episodes of robot manipulation data with joint positions and RGB camera observations.

rgbproprioception
null downloadsJul 2026apache-2.0gated