CLARU
ub216apache-2.0

vgyuan/lerobot_libero_goal

A subset of the LIBERO goal-reaching dataset containing robot manipulation demonstrations with visual and proprioceptive observations across three tasks: putting a bowl on a plate, opening a cabinet drawer, and placing a bowl on a stove.

Downloads155

Technical Profile

Modalities
rgbproprioception
Environment
simulation
Task Types
manipulationpick_and_place
Data Format
LeRobot
License
apache-2.0
Part of the vgyuan/lerobot_libero_goal family

Community Signals

Top 50% by downloads

Access

View on HuggingFace

Need custom rgb data?

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

Request a Sample Pack

Related Datasets

vgyuan/lerobot_libero_goal

A subset of the LIBERO goal-conditioned dataset containing manipulation tasks such as placing bowls on plates, opening cabinet drawers, and placing bowls on stoves, with visual and proprioceptive observations.

rgbproprioception
69 downloadsSep 2025apache-2.0

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
167K downloadsApr 2026CC BY-NC-SA 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
145K 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
127K downloadsApr 2026other

Egocentric-100K

The largest dataset of manual labor with 100,405 hours of egocentric video from head-mounted fisheye cameras, featuring state-of-the-art hand visibility and active manipulation density.

rgbvideo
74K downloadsFeb 2026apache-2.0

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
71K downloadsMar 2026cc-by-nc-4.0