metadata
license: bsd-2-clause
task_categories:
- robotics
RoboManipBaselines
Project Page | GitHub | Paper
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.
The same data can be downloaded here.
Citation
If you use this dataset or the RoboManipBaselines framework in your work, 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}
}