CLARU
Ximeng08312026apache-2.0

Image-Text-Point Cloud Triplets Dataset (CTP)

A multimodal dataset of aligned image, natural language, and 3D LiDAR point cloud triplets curated from nuScenes and KITTI for contrastive tensor pre-training and unified multimodal representation learning.

Downloads44

Why This Matters for Physical AI

This dataset enables multimodal representation learning by aligning visual, geometric, and linguistic modalities, which is foundational for embodied AI systems that must understand and interact with 3D environments using diverse sensory inputs.

Technical Profile

Modalities
rgbpoint_cloudlanguage
Environment
autonomous-driving
Task Types
zero-shot-image-classification
Data Format
jsonl
Annotation Types
language_instructionsbounding_boxes
License
apache-2.0
Part of the Image-Text-Point Cloud Triplets Dataset (CTP) family

Access

View on HuggingFaceRead Paper

Need custom rgb data?

Claru builds purpose-built datasets for autonomous-driving 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

ManiTwin-100K: Manipulation-Ready Digital Object Twins

A large-scale dataset of 100K manipulation-ready digital object twins with simulation-ready 3D meshes, physical properties, functional point annotations, grasp configurations, and language descriptions validated through physics-based simulation.

3d_meshlanguage
45K downloads2026cc-by-nc-4.0