Real Robot Manipulation Dataset 7 tabletop manipulation tasks recorded on a UR5e with a Robotiq 2F 140 gripper and two Intel RealSense cameras (one fixed base, one wrist mounted). 100 episodes per task , 700 episodes total , recorded at 20 Hz . Tasks Folder Instruction put blocks in plate Pick two blocks from the table and place them on the plate. remove blocks from plate Pick two blocks off the plate and place them on the table. hide blocks with bowl Pair the two blocks together and cover them with the bowl. remove blocks under bowl Uncover the hidden blocks and spread the three objects out. hide blocks with cup Cover each block with an upside down cup. put blocks on cup Lift each cup off a block and stack the block on top of the cup. put blocks down Take the blocks off the cups and place them on the table. Each task folder includes a task instruction.json with the full task spec (objects, pick/place strategies, gripper modes, workspace bounds). Layout HDF5 schema (per episode) meta.json schema (per episode) For all tasks the meta contains the per episode ground truth object positions: Task specific keys are additionally recorded (e.g. perm and cup order for the cup tasks, sign an…
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