---
license: bsd-2-clause
task_categories:
- robotics
---

# RoboManipBaselines

[**Project Page**](https://isri-aist.github.io/RoboManipBaselines-ProjectPage/) | [**Paper**](https://huggingface.co/papers/2509.17057) | [**GitHub**](https://github.com/isri-aist/RoboManipBaselines)

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.
<video controls autoplay src="https://cdn-uploads.huggingface.co/production/uploads/677b624be4cf361eed593b69/SB_UIOlxHgDgfN2FEmrg3.mp4"></video>

The same data can be downloaded [here](https://github.com/isri-aist/RoboManipBaselines/blob/master/doc/dataset_list.md).

## Citation

If you use this dataset or the RoboManipBaselines framework in your research, please cite:

```bibtex
@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}
}
```