CLARU
sharinka0715apache-2.0

X-WAM RoboCasa Fine-tuning Dataset

A unified 4D world action modeling dataset derived from RoboCasa, containing single-arm kitchen manipulation demonstrations with synchronized multi-view RGB-D video, proprioception, actions, and language instructions.

Downloads2K

Technical Profile

Modalities
rgbdepthproprioceptionlanguage
Robot Embodiments
single-arm manipulator
Environment
kitchenlab
Task Types
manipulationpick_and_placeopening_doorsopening_drawerspressing_buttons
Data Format
mp4_json
License
apache-2.0
Part of the X-WAM RoboCasa Fine-tuning Dataset family

Community Signals

Top 25% by downloads

Access

View on HuggingFace

Need custom rgb data?

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

Request a Sample Pack

Related Datasets

OmniAction

A large-scale multimodal dataset for proactive robot manipulation comprising 141,162 episodes with cross-modal contextual instructions derived from spoken dialogue, environmental sounds, and visual cues rather than explicit commands.

rgbaudiolanguage
114K downloadsMar 2026cc-by-nc-4.0

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
109K downloadsApr 2026other

OmniAction

A large-scale multimodal dataset for proactive robot manipulation with 141,162 episodes covering contextual instruction following through spoken dialogue, environmental sounds, and visual cues. The dataset includes 5,096 distinct speaker timbres, 2,482 non-verbal sound events, and 640 environmental backgrounds across six categories of contextual instructions.

rgbaudiolanguage
101K downloadsApr 2026cc-by-nc-4.0

OmniAction

A large-scale multimodal dataset for proactive robot manipulation with 141,162 episodes covering contextual instruction following through spoken dialogue, environmental sounds, and visual cues.

rgbaudiolanguage
100K downloadsApr 2026cc-by-nc-4.0

Open-H-Embodiment

A community-driven, multi-embodiment dataset of paired kinematics and video for training and evaluating AI autonomy models in surgical robotics and ultrasound applications, including tabletop exercises, clinical procedures, and healthcare robotics simulations.

rgbproprioception
74K downloadsJun 2026cc-by-4.0

OmniAction

A large-scale multimodal dataset for proactive robot manipulation comprising 141,162 episodes across 112 skills and 748 objects, enriched with audio, visual, and contextual instruction data for cross-modal intention recognition.

rgbaudiolanguage
74K downloadsMar 2026cc-by-nc-4.0