| 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 in robotic manipulation across real and simulation environments. This repository contains expert demonstration datasets used for training and evaluating various imitation learning policies. | |
| ## MuJoCo environments | |
| ### UR5e | |
| #### MujocoUR5eParticleEnv | |
| Task to scoop up particles. | |
| <video controls autoplay src="https://cdn-uploads.huggingface.co/production/uploads/677b624be4cf361eed593b69/XaWZOCjhmX1nMs_guFb7K.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 RoboManipBaselines in your work, please cite the following paper: | |
| ```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} | |
| } | |
| ``` |