Axis Sim Dataset V1
About This Dataset
Axis Sim Dataset V1 is an open-source synthetic robot manipulation dataset maintained by Hong Kong based Axis Robotics, built for pretraining generalist physical AI policies. Spanning over 50,000 human-teleoperated simulation trajectories across 207 manipulation tasks and more than 60,000 scene variations, the corpus tests whether distributed, noisy simulation data can drive embodied representation learning. Trajectories feature a simulated Franka Research 3 robotic arm executing tasks such as pick-and-place, stacking, pouring, tool use, and articulated-object interactions via the web-based Axis Hub interface. Available openly on Hugging Face alongside training code on GitHub, the dataset achieved over 160,000 community downloads and demonstrated measurable empirical improvements when fine-tuning policies like π0.5 against RoboCasa baselines. Designed specifically for robotics researchers, AI engineers, and foundation model teams, Axis Sim Dataset V1 provides scalable, accessible synthetic demonstrations to advance robotic foundational manipulation models without demanding clean expert-only data.
Overview
Axis Sim Dataset V1 is a large-scale open-source simulation manipulation dataset developed by Axis Robotics in collaboration with academic researchers from UC Berkeley, Johns Hopkins University, and the University of Michigan. The dataset was created to test whether noisy, crowd-sourced simulation demonstrations can successfully support embodied pretraining without relying on immaculate, expert-only trajectories.
Collection Methodology
Data collection was conducted through Axis Hub, a browser-based teleoperation platform that enables a globally distributed contributor crowd to manipulate simulated environments. Demonstrations were gathered across 207 distinct manipulation tasks involving over 60,000 procedural scene variations on a simulated Franka Research 3 arm. Task activities encompass pick-and-place operations, object stacking, liquid pouring, articulated-object manipulation, and basic tool use.
Benchmarks and Use Cases
Axis Sim Dataset V1 is engineered as an embodied pretraining base for robotics foundation models (such as π0.5). In LIBERO-Plus evaluation benchmarks, continual pretraining on V1 improved π0.5 success rates from 83.9% to 88.8%, surpassing volume-matched RoboCasa365 baselines by 37.3%. The full training codebase, model checkpoints, and datasets are publicly open on Hugging Face and GitHub.
Tasks Covered
This dataset covers manipulation, pick-and-place tasks across Franka Research 3 robot platforms.
Access and Licensing
Citation
Axis Robotics (2026). Axis Sim Dataset V1. https://huggingface.co/datasets/axisrobotics/Franka-Dataset
Robot Embodiments
This dataset includes demonstrations collected using the following robot platforms.
- Franka Research 3
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Frequently Asked Questions
About Axis Robotics
Axis Sim Dataset V1 is a Synthetic dataset maintained by Axis Robotics, released in 2026 under the open-source license. The dataset permits commercial use. It covers manipulation, pick-and-place tasks using Franka Research 3 robot platforms. The full dataset is freely accessible at https://huggingface.co/datasets/axisrobotics/Franka-Dataset.