CLARU
skkuprismapache-2.0

UR7E Marker in Bottle

A robotics dataset collected with a UR7E robot performing a marker-in-bottle task using code-as-policies approach. The dataset contains 35 episodes with multimodal observations including joint states, RGB images from multiple viewpoints, and skill-based annotations.

Downloads15
Episodes35

Why This Matters for Physical AI

This dataset demonstrates code-as-policies learning on a collaborative robot with skill-level supervision and natural language annotations, enabling research in policy learning and human-robot interaction for precise manipulation tasks.

Technical Profile

Modalities
rgbproprioception
Robot Embodiments
UR7E
Action Space
joint_positions
Environment
lab
Task Types
manipulationmarker-in-bottle
Episodes
35
Data Format
LeRobot
Annotation Types
language_instructionsaction_labelsskill_labels
License
apache-2.0
Part of the UR7E Marker in Bottle family

Access

View on HuggingFace

Need custom rgb data?

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

Request a Sample Pack

Related Datasets

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

LingBot-Depth Dataset

Self-curated RGB-D dataset for training masked depth modeling approaches, containing real-world indoor scenes, VLA robot manipulation tasks, and simulated data across multiple camera types and robot platforms.

rgbdepth
71K downloadsCC BY-NC-SA 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

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
45K downloads2025cc-by-nc-4.0