This dataset provides rich multi-modal demonstrations in LeRobot format, covering 20 real-robot tasks and 3 simulation tasks. Beyond standard end-effector trajectories, we provide joint positions, velocities, currents, camera views, and mobile-base states — giving participants the freedom to explore diverse input representations.

Dataset Structure

maniparena-dataset/
├── real/
│   ├── execution_reasoning/        (10 tasks, ~5,000 episodes)
│   ├── semantic_reasoning/         (5 tasks, ~2,800 episodes)
│   └── mobile_manipulation/        (5 tasks, ~2,900 episodes)
└── sim/
    ├── press_button_in_order/      (60 episodes)
    ├── put_blocks_to_color/        (50 episodes)
    └── pick_fruits_into_basket/    (50 episodes)

Each task folder follows LeRobot format:

<task>/
    meta/info.json
    meta/tasks.jsonl
    data/chunk-000/episode_000000.parquet
    videos/chunk-000/
        observation.images.faceImg/episode_000000.mp4
        observation.images.leftImg/episode_000000.mp4
        observation.images.rightImg/episode_000000.mp4

Real Robot Data (56D)

Real-robot demonstrations contain 56-dimensional observation.state and action vectors. All data types are packed into a single vector in the following order.

Dimension Layout

End-effector (index 0–13):

Index	Key	Dim	Description
0–2	`follow_left_ee_cartesian_pos`	3	Left arm position (x, y, z)
3–5	`follow_left_ee_rotation`	3	Left arm rotation (roll, pitch, yaw)
6	`follow_left_gripper`	1	Left gripper open/close
7–9	`follow_right_ee_cartesian_pos`	3	Right arm position (x, y, z)
10–12	`follow_right_ee_rotation`	3	Right arm rotation (roll, pitch, yaw)
13	`follow_right_gripper`	1	Right gripper open/close

Coordinate system: +x forward, +y left, +z up.

Joint — left arm (index 14–32):

Index	Key	Dim	Description
14–19	`follow_left_arm_joint_pos`	6	Left arm joint positions
20–25	`follow_left_arm_joint_dev`	6	Left arm joint velocities
26–32	`follow_left_arm_joint_cur`	7	Left arm joint currents (index 32 = gripper current)

Joint — right arm (index 33–51):

Index	Key	Dim	Description
33–38	`follow_right_arm_joint_pos`	6	Right arm joint positions
39–44	`follow_right_arm_joint_dev`	6	Right arm joint velocities
45–51	`follow_right_arm_joint_cur`	7	Right arm joint currents (index 51 = gripper current)

Mobile manipulation extras (index 52–55, mobile tasks only):

Index	Key	Dim	Description
50–51	`head_actions`	2	Head rotation (yaw, pitch)
52	`height`	1	Lift mechanism height
53–55	`velocity_decomposed_odom`	3	Chassis velocity (vx, vy, angular velocity)

Tabletop tasks (Execution Reasoning + Semantic Reasoning): index 0–49 are populated; index 50–55 are zero. Mobile Manipulation tasks: all 56 dimensions are populated.

Task List — Real Robot

Execution Reasoning (10 tasks):

Task	Episodes	Key Challenge
`arrange_cup_inverted_triangle`	528	Multi-object spatial planning
`put_spoon_to_bowl`	525	Precision grasping, varied shapes
`put_glasses_on_woodshelf`	513	Fragile object handling
`put_ring_onto_rod`	517	Sub-cm insertion precision
`put_items_into_drawer`	510	Multi-object coordination
`pick_items_into_basket`	532	Adaptive grasping
`pour_water_from_bottle`	526	Force control, liquid dynamics
`insert_wireline`	530	Contact-rich, mm-level accuracy
`put_stationery_in_case`	390	Multi-object organization
`put_blocks_to_color`	451	Color-zone matching

Semantic Reasoning (5 tasks):

Task	Episodes	Key Challenge
`sort_headphone`	515	Recognize headphone type
`classify_items_as_shape`	545	Map objects to shape categories
`press_button_in_order`	538	Color-button mapping + sequence
`pair_up_items`	540	Match pairs by pattern
`pick_fruits_into_basket`	645	Fruit vs. non-fruit distinction

Mobile Manipulation (5 tasks):

Task	Episodes	Key Challenge
`put_clothes_in_hamper`	540	Navigate + pick clothes
`hang_up_picture`	576	Navigate to wall + hang
`organize_shoes`	595	Navigate + arrange on rack
`put_bottle_on_woodshelf`	630	Navigate to shelf + place
`take_and_set_tableware`	531	Navigate + set table

Simulation Data (28D)

Simulation demonstrations contain 28-dimensional observation.state and action vectors, combining end-effector (14D) and joint (14D) data from the same trajectories.

Dimension Layout

End-effector (index 0–13):

Index	Key	Dim	Description
0–2	`ee_left_xyz`	3	Left arm EE position (x, y, z)
3–5	`ee_left_rpy`	3	Left arm EE rotation (roll, pitch, yaw)
6	`ee_left_gripper`	1	Left gripper
7–9	`ee_right_xyz`	3	Right arm EE position (x, y, z)
10–12	`ee_right_rpy`	3	Right arm EE rotation (roll, pitch, yaw)
13	`ee_right_gripper`	1	Right gripper

Joint (index 14–27):

Index	Key	Dim	Description
14–19	`joint_left_pos`	6	Left arm joint positions
20	`joint_left_gripper`	1	Left joint gripper
21–26	`joint_right_pos`	6	Right arm joint positions
27	`joint_right_gripper`	1	Right joint gripper

The first 14 dimensions (EE) are directly compatible with real-robot index 0–13.

Task List — Simulation

Task	Episodes	Real-robot Counterpart
`press_button_in_order`	60	press_button_in_order
`put_blocks_to_color`	50	put_blocks_to_color
`pick_fruits_into_basket`	50	pick_fruits_into_basket

Camera Views

All tasks include 3 synchronized camera streams at 480×640 resolution:

Camera	Key	Description
Front	`observation.images.faceImg`	Third-person overhead view
Left wrist	`observation.images.leftImg`	Left arm wrist-mounted camera
Right wrist	`observation.images.rightImg`	Right arm wrist-mounted camera

Recording Frequency

All data is recorded at 20 Hz.

Quick Usage

import pandas as pd
import numpy as np

# Load one episode
df = pd.read_parquet("real/execution_reasoning/put_blocks_to_color/data/chunk-000/episode_000000.parquet")

state = np.stack(df["observation.state"].tolist())  # (T, 56) for real, (T, 28) for sim
action = np.stack(df["action"].tolist())

# EE data (first 14 dims — same layout for real and sim)
ee_left = state[:, 0:7]    # xyz(3) + rpy(3) + gripper(1)
ee_right = state[:, 7:14]

# Joint data (real: index 14–51, sim: index 14–27)
left_joint_pos = state[:, 14:20]   # 6 joint positions
right_joint_pos = state[:, 33:39]  # real only (sim uses 21:27)

Citation

@misc{maniparena2026,
    title={ManipArena: A Benchmark for Bimanual Manipulation},
    year={2026},
    url={https://maniparena.x2robot.com},
}

License

Apache License 2.0

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