RoboSet (RoboAgent)
Real-world multi-task Franka manipulation dataset (kitchen scenes): 28.5K trajectories, 12 skills, 38 tasks, 4 RGB-D camera views.
| Year | 2023 |
|---|---|
| Episodes | 28,500 |
| Embodiments | franka_panda |
| Modalities | depth, ee_pose, language, proprioception, rgb |
| Task categories | manipulation |
| License | MIT |
| Access | open — commercial use permitted |
| Maintainer | Carnegie Mellon University and Meta AI |
RoboSet is a large-scale real-world multi-task robot manipulation dataset collected on Franka-Emika Panda arms with Robotiq grippers across everyday kitchen scenes, combining teleoperated (9,500) and kinesthetic-playback (19,000) demonstrations. It spans 12 manipulation skills expressed across 38 tasks, recording RGB and depth frames from 4 camera views (top, left, right fixed plus a wrist camera) along with Franka joint positions/velocities, end-effector/gripper pose/velocities, and applied controls. It was released alongside the RoboAgent / MT-ACT system (CMU and Meta AI/FAIR). Data is stored as HDF5 trials containing image, proprioception, and action fields.