Dataset catalog
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LIBERO
Human-teleoperated demonstration data for the LIBERO lifelong robot-manipulation benchmark: 6,500 successful trajectories (50 per task) across 130 language-conditioned tasks in four suites, stored as robomimic-format HDF5.
Open X-Embodiment
Open X-Embodiment is an aggregated robot-learning dataset that pools over 1 million real robot demonstration trajectories from 22 embodiments across 60 datasets into a single standardized RLDS/TFDS format.
DROID
DROID is a large-scale in-the-wild robot manipulation dataset of 76,000 human-teleoperated Franka Panda demonstration trajectories (350 hours) with multi-view stereo RGB, robot state/action, and natural-language task instructions.
MineRL Human Demonstrations
A large-scale dataset of over 60 million automatically-annotated human state-action pairs recorded while people play Minecraft across a set of related item-acquisition and navigation tasks.
Language-Table
A large suite of human-collected, language-conditioned tabletop block-manipulation demonstrations from Robotics at Google, where a robot pushes colored blocks in response to natural-language instructions, released in RLDS/TFDS format.
BridgeData V2
60,096 real WidowX 250 robot manipulation trajectories (teleoperated + scripted) across 24 environments and 13 skills, each labeled with natural-language task instructions.
ALOHA / ACT Demonstrations
Human-teleoperated bimanual fine-manipulation demonstrations collected with the low-cost open-source ALOHA hardware for the ACT paper, recorded as multi-camera RGB video plus 14-DoF joint states/actions in per-episode HDF5 files.
CALVIN
CALVIN is an open-source simulated benchmark of ~24 hours of human teleoperated play data (6 h in each of 4 environments A/B/C/D) with crowd-sourced natural-language annotations for learning long-horizon, language-conditioned robot manipulation over 34 tasks.