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license: bsd-2-clause
task_categories:
- robotics
---
# RoboManipBaselines
[**Project Page**](https://isri-aist.github.io/RoboManipBaselines-ProjectPage/) | [**GitHub**](https://github.com/isri-aist/RoboManipBaselines) | [**Paper**](https://huggingface.co/papers/2509.17057)
RoboManipBaselines is an open-source software framework for imitation learning research in robotic manipulation. The framework supports the entire imitation learning pipeline, including data collection, policy training, and rollout, across both simulation and real-world environments.
This repository contains expert demonstration datasets for the benchmark environments.
## MuJoCo environments
### UR5e
#### MujocoUR5eRingEnv
Task to pick a ring and put it around the pole.
<video controls autoplay src="https://cdn-uploads.huggingface.co/production/uploads/677b624be4cf361eed593b69/ThYUOYrz3cNBYEumGTSNw.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 work, 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}
}
``` |