| 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](https://huggingface.co/papers/2509.17057). | |
| - **Project Page:** [https://isri-aist.github.io/RoboManipBaselines-ProjectPage/](https://isri-aist.github.io/RoboManipBaselines-ProjectPage/) | |
| - **GitHub Repository:** [https://github.com/isri-aist/RoboManipBaselines](https://github.com/isri-aist/RoboManipBaselines) | |
| ## Real-world environments | |
| ### UR5e | |
| #### RealUR5eDemoEnv | |
| Various manipulation tasks with UR5e in the real world. | |
| <video controls autoplay src="https://cdn-uploads.huggingface.co/production/uploads/677b624be4cf361eed593b69/lsf1AdsUjjHIMlub2cffI.mp4"></video> | |
| The same data can be downloaded [here](https://www.dropbox.com/scl/fi/878r1olspwtgclfyi3hwy/RealUR5eFoldBlueHandkerchief_20241115.zip?rlkey=rkv6iwv0t3xzqtn8ufkc0g4gk&dl=1). | |
| ## Citation | |
| ```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} | |
| } | |
| ``` |