AIRoA MoMa
AIRoA MoMa is a robotics robotics dataset maintained by unknown organisation. It contains 94 hours and 25,469 episodes of demonstration data. Access is gated under CC BY-NC-SA 4.0.
| Year | 2025 |
|---|---|
| Episodes | 25,469 |
| Total hours | 94 |
| Embodiments | Toyota Human Support Robot (HSR) |
| Task categories | manipulation |
| License | CC BY-NC-SA 4.0 |
| Access | gated |
| Maintainer | AI Robot Association (AIRoA) |
The AIRoA MoMa Dataset is a large-scale, real-world dataset for mobile manipulation collected with the Toyota Human Support Robot (HSR) via leader-follower teleoperation in household environments. It contains 25,469 episodes (~94 hours) sampled at 30 Hz, with synchronized RGB images from head and wrist cameras, joint states, six-axis wrist force-torque signals, and internal robot states. A two-layer annotation schema of sub-goals and primitive actions supports hierarchical learning and error analysis across seven primary household tasks. The data is standardized in the LeRobot v2.1 format and released by AIRoA (AI Robot Association) under the GENIAC project (METI/NEDO).