AIRoA MoMa 5k
Description
AIRoA MoMa 5k contains 1,184,259 successful primitive-action episodes spanning 5,025.1 hours and 180,905,084 frames of teleoperated mobile manipulation with 44 Toyota Human Support Robots across five sites. The public, train-only LeRobot v3.0 release covers 68 main short-horizon task templates and combines head- and hand-camera RGB video with robot state and actions, end-effector pose, wrist force-torque history, low-level servo telemetry, and hierarchical task metadata.
License
AIRoA Public Dataset Terms of Use; research and development use only, with no redistribution of the dataset, derivative datasets, or derivative models.*
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