Dataset · RH20T authors (rh20t.github.io)
RH20T
Robot arm/gripper models per configuration are in the paper appendix, not on the page. Downloads via Google Drive / Baidu Cloud per configuration; 320x180 version ranges 4.4GB-572.2GB per configuration.
Facts
- Organisation
- RH20T authors (rh20t.github.io)
- Form tags
- multi-embodiment · human video
- Embodiments (as stated)
- 7 robot configurations (cfg1-cfg7; models detailed in paper appendix)
- Episodes
- 110,000
- Hours
- unverified
- Frames
- unverified
- Tasks
- 147
- Scenes
- unverified
- Modalities
- rgb · depth · force · audio · tactile · state · language
- Format
- custom (MP4 video + NPY arrays + JSON metadata, per configuration/task folders)
- Licence
- RH20T-C subset: CC BY-SA 4.0; RH20T-NC subset: CC BY-NC 4.0
- Commercial use
- unverified
- Released
- 2023-07
- Size
- 5000 GB
Sources · 13 sources
name https://rh20t.github.io/ Official page · Fetched 2026-09-18 · No snapshot stored yet 7 configurations cfg1-cfg7; 'corresponding human demonstration video' for each robot sequence
org https://rh20t.github.io/ Official page · Fetched 2026-09-18 · No snapshot stored yet 7 configurations cfg1-cfg7; 'corresponding human demonstration video' for each robot sequence
url https://rh20t.github.io/ Official page · Fetched 2026-09-18 · No snapshot stored yet 7 configurations cfg1-cfg7; 'corresponding human demonstration video' for each robot sequence
embodiments https://rh20t.github.io/ Official page · Fetched 2026-09-18 · No snapshot stored yet 7 configurations cfg1-cfg7; 'corresponding human demonstration video' for each robot sequence
form_tags https://rh20t.github.io/ Official page · Fetched 2026-09-18 · No snapshot stored yet 7 configurations cfg1-cfg7; 'corresponding human demonstration video' for each robot sequence
episodes https://arxiv.org/abs/2307.00595 Official page · Fetched 2026-09-18 · No snapshot stored yet Abstract: 'over 110,000 contact-rich robot manipulation sequences'
tasks https://rh20t.github.io/ Official page · Fetched 2026-09-18 · No snapshot stored yet 'We select 48 tasks from RLBench, 29 tasks from MetaWorld, and introduce 70 self-proposed tasks' (147)
modalities https://rh20t.github.io/ Official page · Fetched 2026-09-18 · No snapshot stored yet RGB, depth, binocular IR, joint angles/torque, gripper pose/width, 6-DoF force/torque, fingertip tactile (cfg7 only), audio, language description
format https://rh20t.github.io/ Official page · Fetched 2026-09-18 · No snapshot stored yet Folder hierarchy of MP4/NPY/JSON; '640x360 version: ~5TB RGB, ~10TB RGBD after extraction'
size_gb https://rh20t.github.io/ Official page · Fetched 2026-09-18 · No snapshot stored yet Folder hierarchy of MP4/NPY/JSON; '640x360 version: ~5TB RGB, ~10TB RGBD after extraction'
license https://rh20t.github.io/ Official page · Fetched 2026-09-18 · No snapshot stored yet Dual license: RH20T-C under CC BY-SA 4.0, RH20T-NC under CC BY-NC 4.0 (mixed -> commercial_ok null)
commercial_ok https://rh20t.github.io/ Official page · Fetched 2026-09-18 · No snapshot stored yet Dual license: RH20T-C under CC BY-SA 4.0, RH20T-NC under CC BY-NC 4.0 (mixed -> commercial_ok null)
release_date https://arxiv.org/abs/2307.00595 Official page · Fetched 2026-09-18 · No snapshot stored yet arXiv v1 2023-07-02 (v2 2023-09-26); ICRA 2024
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