Dataset profile
RH20T
RH20T contains robot manipulation data across diverse skills, contexts, robots, and camera viewpoints, with corresponding human demonstration video for each sequence. It is useful for multimodal manipulation research and human-to-robot demonstration mapping.
Overview
RH20T contains robot manipulation data across diverse skills, contexts, robots, and camera viewpoints, with corresponding human demonstration video for each sequence. It is useful for multimodal manipulation research and human-to-robot demonstration mapping.
What's included
- RGB-D, force, audio, and action information
- Robot joint, gripper, force-torque, and camera data
- Corresponding human demonstration videos
Tasks / activities
Modalities
Collection methodology
Operators teleoperated robots with haptic interfaces while multiple RGB-D cameras and sensors captured contact-rich manipulation.
Potential applications
- One-shot imitation learning
- Force-aware manipulation
- Multimodal robot control
- Human-to-robot demonstration transfer
Access & licensing
This is a third-party public/research dataset. We do not own or distribute this dataset. Access and usage are governed by the original publisher's terms.
Access and use are governed by RH20T publisher terms; the dataset may include sensitive volunteer recordings.
Limitations / opportunities for custom data
Healthcare teams may need role-specific human demonstrations and care workflows rather than general manipulation skills.
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