metadata
license: bsd-2-clause
task_categories:
- robotics
RoboManipBaselines
Project Page | Paper | GitHub
RoboManipBaselines is a unified framework for imitation learning research in robotic manipulation, supporting data collection, policy training, and rollout across both simulation and real-world environments. This repository contains expert demonstration datasets used in the benchmark evaluations.
MuJoCo environments
UR5e
MujocoUR5eClothEnv
Task to roll up the cloth.
The same data can be downloaded here.
Citation
If you use this dataset or the RoboManipBaselines framework in your research, please cite:
@article{RoboManipBaselines_Murooka_2025,
title={RoboManipBaselines: A Unified Framework for Imitation Learning in Robotic Manipulation across Real and Simulation Environments},
author={Murooka, Masaki and Motoda, Tomohiro and Nakajo, Ryoichi and Oh, Hanbit and Makihara, Koshi and Shirai, Keisuke and Ogata, Tetsuya and Domae, Yukiyasu},
journal={arXiv preprint arXiv:2509.17057},
year={2025}
}