Teleoperation Kitchen Dataset
Robot teleoperation data from real kitchen environments — synchronized camera-action-force triplets for training cooking robot manipulation policies.
Dataset at a Glance
Comparison with Public Datasets
How Claru's dataset compares to publicly available alternatives.
| Dataset | Clips | Hours | Modalities | Environments | Annotations |
|---|---|---|---|---|---|
| Bridge Data V2 | 60K | ~200 | RGB | 1 kitchen | Actions, language |
| DROID | 76K | ~350 | RGB-D, wrist | Multiple | Actions, language |
| Claru Kitchen Teleop | 45K+ | 300+ | RGB, Depth, F/T | 15+ kitchens | Actions, forces, language, success |
Use Cases
VLA Kitchen Policies
Language-conditioned manipulation for cooking tasks. Example models: RT-2, OpenVLA, Octo.
Diffusion Policy
Multi-modal action prediction for kitchen manipulation. Example models: Diffusion Policy, ACT, pi-zero.
Contact-Rich Manipulation
Force-aware manipulation for food handling. Example models: TRILL, ManiSkill2, RoboCasa.
Key References
- [1]Walke et al.. “BridgeData V2: A Dataset for Robot Learning at Scale.” CoRL 2024, 2024. Link
- [2]Khazatsky et al.. “DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset.” RSS 2024, 2024. Link
- [3]Chi et al.. “Diffusion Policy: Visuomotor Policy Learning via Action Diffusion.” RSS 2023, 2023. Link
How Claru Delivers This Data
Claru operates teleoperation rigs in real kitchens using Franka, UR5, and mobile manipulators. Human operators perform genuine cooking tasks, generating synchronized observation-action pairs with force/torque sensing.
Frequently Asked Questions
Franka Emika Panda, UR5e, and selected mobile manipulators, recording joint positions at 50Hz with force/torque sensors.
From simple pick-and-place to complex pouring, stirring, cutting, and plating, each with natural language instructions.
Every trajectory carries a binary success label plus quality score (1-5) from human evaluators with task-specific criteria.
Request a Sample Pack
Get a curated sample of teleoperation kitchen data with full annotations to evaluate for your project.