| --- |
| license: cc-by-nc-4.0 |
| task_categories: |
| - robotics |
| tags: |
| - lerobot |
| - embodied-ai |
| - manipulation |
| - human-demonstration |
| - stereo-vision |
| - grasping |
| language: |
| - en |
| size_categories: |
| - 100K<n<1M |
| --- |
| |
| <div align="center"> |
|
|
| # DeskOrganizationV1 |
|
|
| A 600-episode desktop manipulation dataset |
|
|
| Recorded from human demonstrations · LeRobot v3.0 · 60 fps stereo |
|
|
| TRICOS.AI — embodied-AI data infrastructure |
|
|
| </div> |
|
|
| --- |
|
|
| <h3 align="center">600 episodes · 12 tasks · 199,675 frames · 60 fps · stereo 1920×1200</h3> |
|
|
| Every episode carries synchronized stereo video, head and wrist poses, and a |
| per-frame gripper state: tissue, clear tape, glue stick, pen, bowl and desktop |
| items, each placed into a left or right box. |
|
|
| ## Our capture capability |
|
|
| The clips below show the capture stack behind this dataset: precise hand |
| trajectories, stable tracking through visual occlusion and rapid head motion. |
| They illustrate how we collect data, and are not part of the dataset itself. |
|
|
| <table> |
| <tr> |
| <td width="50%"><video controls muted autoplay loop playsinline preload="metadata" width="100%" src="https://huggingface.co/datasets/TRICOS/CosData-Set-0001-demos/resolve/main/demo/overview_1.mp4"></video><p align="center"><em>Capture overview</em></p></td> |
| <td width="50%"><video controls muted autoplay loop playsinline preload="metadata" width="100%" src="https://huggingface.co/datasets/TRICOS/CosData-Set-0001-demos/resolve/main/demo/overview_2.mp4"></video><p align="center"><em>Capture overview (2)</em></p></td> |
| </tr> |
| <tr> |
| <td width="50%"><video controls muted autoplay loop playsinline preload="metadata" width="100%" src="https://huggingface.co/datasets/TRICOS/CosData-Set-0001-demos/resolve/main/demo/high_precision.mp4"></video><p align="center"><em>High-accuracy trajectory</em></p></td> |
| <td width="50%"><video controls muted autoplay loop playsinline preload="metadata" width="100%" src="https://huggingface.co/datasets/TRICOS/CosData-Set-0001-demos/resolve/main/demo/rapid_head_motion.mp4"></video><p align="center"><em>Rapid head motion</em></p></td> |
| </tr> |
| <tr> |
| <td width="50%"><video controls muted autoplay loop playsinline preload="metadata" width="100%" src="https://huggingface.co/datasets/TRICOS/CosData-Set-0001-demos/resolve/main/demo/occlusion_1.mp4"></video><p align="center"><em>Visual occlusion · 1</em></p></td> |
| <td width="50%"><video controls muted autoplay loop playsinline preload="metadata" width="100%" src="https://huggingface.co/datasets/TRICOS/CosData-Set-0001-demos/resolve/main/demo/occlusion_2.mp4"></video><p align="center"><em>Visual occlusion · 2</em></p></td> |
| </tr> |
| </table> |
|
|
| ## Inside the dataset |
|
|
| Two sample episodes from the dataset. Camera view on the left with the |
| per-frame gripper state (LEFT / RIGHT, 1 = grasping, 0 = open); synchronized |
| 3D trajectory on the right. |
|
|
| **Task: Place the desktop items into the left box** |
|
|
| <video controls muted autoplay loop playsinline preload="metadata" width="100%" src="https://huggingface.co/datasets/TRICOS/CosData-Set-0001-demos/resolve/main/demo/fusion_desktop_items_left_box.mp4"></video> |
|
|
| **Task: Place the desktop items into the right box** |
|
|
| <video controls muted autoplay loop playsinline preload="metadata" width="100%" src="https://huggingface.co/datasets/TRICOS/CosData-Set-0001-demos/resolve/main/demo/fusion_desktop_items_right_box.mp4"></video> |
|
|
| ## Access |
|
|
| This dataset is **gated**. Request access on this page and, once approved, |
| download the full videos, metadata and parquet data. |
|
|
| ## Collaboration |
|
|
| <div align="center"> |
|
|
| **100,000 hours every month** |
|
|
| **Under ¥100 per hour · open for collaboration** |
|
|
| </div> |
|
|
| We work with robotics and embodied-AI teams on data for real deployment. |
|
|
| - **Custom capture tasks** — tasks, objects and scenes designed for your robot |
| - **Free trial dataset** — a sample release to evaluate data quality first |
| - **Adjustable data format** — LeRobot v3.0 by default, other schemas on request |
| - **Model training support** — our VLA team helps with data preparation before |
| training: world-to-camera frame conversion, cross-embodiment mapping and |
| related tooling |
|
|
| Tell us what you are building and we will design the capture around it. |
|
|
| ## Contact |
|
|
| **contact@tricosai.com** |
|
|
| --- |
|
|
| ## Citation |
|
|
| ```bibtex |
| @misc{tricos_deskorganizationv1, |
| title = {TRICOS.AI DeskOrganizationV1: A Desktop Manipulation Demonstration Dataset}, |
| author = {{TRICOS.AI}}, |
| year = {2026}, |
| howpublished = {Hugging Face Datasets}, |
| note = {600 episodes, 12 language-conditioned tasks, LeRobot v3.0} |
| } |
| ``` |
|
|
| ## License |
|
|
| Released under the Creative Commons Attribution-NonCommercial 4.0 |
| International License (CC BY-NC 4.0). Commercial licensing: contact TRICOS.AI. |
|
|
| --- |
|
|
| <p align="center">contact@tricosai.com</p> |
|
|
| --- |
|
|
| Technical documentation: [DATASET.md](DATASET.md) · Video orientation and |
| projection: [VIDEO_ROTATION.md](VIDEO_ROTATION.md) |
|
|
