RH20T
Description
RH20T provides more than 110,000 contact-rich real-robot manipulation sequences across roughly 147 tasks and seven arm-and-gripper configurations. Haptic teleoperation captured multi-view RGB-D and infrared video, audio, joint and end-effector state, actions, and six-axis force/torque; one configuration also includes fingertip tactile sensing, and each robot sequence has a paired human demonstration video and language description. The dataset targets one-shot imitation and generalization to diverse real-world skills beyond simple pushing and pick-and-place.
License
Scenes 0001–0005: CC BY-SA 4.0. Scenes 0006–0010: CC BY-NC 4.0.*
* Double-check the publisher's current license and usage terms before using this dataset.