RH20T
110K+ real-world contact-rich manipulation sequences across 147 tasks, 7 robot platforms, with vision, force, audio and human demos.
| Year | 2023 |
|---|---|
| Episodes | 110,000 |
| Embodiments | franka_panda, kuka_iiwa, multi, ur5 |
| Modalities | audio, depth, ee_pose, force_torque, language, proprioception, tactile, rgb |
| Task categories | manipulation |
| License | custom |
| Access | open |
| Maintainer | Shanghai Jiao Tong University (Cewu Lu Lab / MVIG) |
RH20T is a large-scale real-world robotic manipulation dataset of over 110,000 contact-rich manipulation sequences spanning 147 tasks (48 from RLBench, 29 from MetaWorld, 70 self-proposed), each paired with a human demonstration video. Data was collected on 7 hardware configurations using four robot arms (Flexiv, UR5, Franka, Kuka) with 8-10 global RGBD cameras and 1-2 in-hand cameras per platform, capturing RGB, depth, binocular IR, joint angle/torque, gripper/EE pose, 6-DoF force-torque, audio, and fingertip tactile (Cfg7 only). The original data is ~40TB; the project provides a 640x360 resized version (~5TB RGB, ~10TB RGBD).