metadata
license: bsd-2-clause
task_categories:
- robotics
RoboManipBaselines: Real-world UR5e Dataset
This repository contains real-world demonstration data for the UR5e robot, associated with the paper RoboManipBaselines: A Unified Framework for Imitation Learning in Robotic Manipulation across Real and Simulation Environments.
- Project Page: https://isri-aist.github.io/RoboManipBaselines-ProjectPage/
- GitHub Repository: https://github.com/isri-aist/RoboManipBaselines
Real-world environments
UR5e
RealUR5eDemoEnv
Various manipulation tasks with UR5e in the real world.
The same data can be downloaded here.
Citation
@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}
}