---
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}
}
```