CC BY-NC-SA 4.0
The publisher's licence restricts use to research and other non-commercial purposes. Hub card tag cc-by-nc-sa-4.0. Non-commercial. The larger AIRoA MoMa 5k release is under separate custom terms and is not this row.
The host asks you to sign in to Hugging Face and accept the publisher's terms before it serves files.
hf download airoa-org/airoa-moma --repo-type dataset --local-dir ./airoa-momaGated 'auto': accept the conditions once while logged in, then a token works. About 90 GB.
Specification, as published
- Hours (stated)
- 87 h
- Episodes (stated)
- 23,762 episodes
- Scale
- 23,762 episodes of household service robot teleoperation data
- Task
- Laundry & folding, Cooking & food prep, Dishwashing, Tidying & put-away, Other
- Environment
- Indoor – lab
- Modality
- RGB, Proprioception, Actions, Language
- Capture
- Egocentric
- In frame
- Robot hands
- Captured in
- Asia
- Embodiment
- Toyota Human Support Robot (HSR)
- Frame rate
- 30 fps
- Resolution
- 640x480
- Formats
- MP4, JSON
- Size
- about 85 GB (89.9 GB on the Hub)
- Hosted on
- Hugging Face
Figures are the publisher's own. Kinetic Blocks has not measured this dataset.
About this dataset
Household service robot teleoperation from AIRoA on eight Toyota Human Support Robots, recorded in a single laboratory set up as a controlled household environment with kitchen appliances and furniture. Seven task categories: cloth handling (towel stand, hanging and folding towels), coffee making, dishwashing, toast baking, desk lamp control, slipper organisation and miscellaneous tasks, with hierarchical task labels. Each episode has a head camera and a hand camera at 640x480 and 30 fps as MP4, with proprioception, actions and language. Version 1.1 is the current release.
Publisher's own task names: cloth manipulation, towel hanging and folding, coffee making, dishwashing, toast baking, desk lamp control, slipper organization.
What Kinetic Blocks did, and did not do
Indexed and linked from the publisher. Not hosted, verified or graded by Kinetic Blocks. The publisher's terms govern. The licence shown is the one stated on the publisher's page, linked above. Nothing on this page is a claim by Kinetic Blocks.
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