CLARU
shashuo0104MIT

Residual Copilot — Data

Teleoperation demonstration data for Residual Shared Autonomy, used for kNN pilot action retrieval and environment resets across three manipulation tasks.

Downloads118

Why This Matters for Physical AI

Provides teleoperated demonstration trajectories with fingertip state observations for training kNN-based action retrieval and behavior cloning models in shared autonomy systems.

Technical Profile

Modalities
proprioception
Robot Embodiments
xArm
Action Space
end_effector_delta
Environment
simulation
Task Types
manipulationpick_and_place
Data Format
npy
License
MIT
Part of the Residual Shared Autonomy family

Community Signals

HuggingFace Discussions1

Access

View on HuggingFaceRead Paper

Need custom proprioception data?

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

Request a Sample Pack

Related Datasets

Residual Copilot — Assets

Robot and object mesh files for Isaac Lab simulation, including XArm 7 robot models, task objects (nuts, bolts, gears, pegs), and camera calibration parameters for the Residual Shared Autonomy project.

390 downloadsMIT

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
2.3M downloadsother

Open-H-Embodiment

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

rgbproprioception
118K downloads2026cc-by-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
76K downloads2026cc-by-4.0

PhysicalAI-Robotics-Manipulation-Kitchen-Demos

A large-scale dataset of 600 hours of human-teleoperated demonstrations across 316 different kitchen manipulation tasks, totalling 55k trajectories collected using a Franka Panda robot with an Omron mobile base.

rgbproprioception
57K downloads2025cc-by-4.0

TartanGround

A large-scale, multi-modal dataset designed to advance perception and autonomy of ground robots operating in diverse environments, collected across 63 photorealistic simulation environments with over 1.44 million samples from 878 trajectories.

rgbdepthsemantic_segmentationoptical_flow+5
42K downloads2025cc-by-4.0