Frame from the RH20T-NC (scenes 6 to 10) dataset, Shanghai Jiao Tong University, CC BY-NC 4.0.
CC BY-NC 4.0
The publisher's licence restricts use to research and other non-commercial purposes.
Scenes 0006 to 0010 only. Commercial use of this subset or models trained on it is not allowed. Per-configuration tar.gz links via Google Drive and Baidu; no CLI.
Specification, as published
- Scale
- RH20T-NC: scenes 0006 to 0010 of the 110k-sequence corpus
- Task
- Pick & place, Assembly, Cooking & food prep, Tidying & put-away, Other
- Environment
- Indoor – lab
- Modality
- RGB, Depth, Audio, Force/torque, Tactile, Proprioception, Actions
- Capture
- CCTV Scene
- In frame
- Robot hands, Person hands
- Captured in
- China
- Embodiment
- Flexiv arm, UR5, Franka, Kuka +1 more
- Frame rate
- 10 fps
- Resolution
- 1280x720 (original); 640x360 and 320x180 resized releases
- Formats
- MP4, NPZ/NumPy, JSON, Other
- Size
- ~50 TB original; ~15 TB at 640x360 (26 GB to 178 GB per configuration)
- Hosted on
- Google Drive
Figures are the publisher's own. Kinetic Blocks has not measured this dataset.
About this dataset
RH20T records over 110,000 contact-rich manipulation sequences across seven robot configurations built from Flexiv, UR5, Franka and Kuka arms. Each scene is captured by 8 to 10 global RGB-D cameras and 1 to 2 in-hand cameras at 10 Hz, with 6-DoF force-torque at 100 Hz, two microphones and fingertip tactile on one setup. The 147 tasks draw on RLBench, MetaWorld and 70 self-proposed skills, and each robot episode is paired with a human demonstration video. Resized 640x360 and 320x180 releases keep the download manageable.
Publisher's own task names: 147 tasks, 48 RLBench tasks, 29 MetaWorld tasks, 70 self-proposed tasks, contact-rich manipulation, one-shot imitation.
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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