AIRoA MoMa Dataset
Description
AIRoA MoMa v1.1 provides 23,762 filtered Human Support Robot teleoperation episodes totaling 87 hours across seven household task families. The gated LeRobot release pairs head- and hand-camera RGB video with robot state, calibration, task-success metadata, and hierarchical short-horizon and primitive-action annotations; the research dataset also records synchronized wrist force-torque signals. Nineteen operators used eight HSR robots to collect tasks including towel handling, coffee making, dishwashing, toast preparation, lamp control, and slipper organization.
License
CC BY-NC-SA 4.0.*
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