Dataset · Imperial College London (Stephen James et al.)
RLBench
Simulation. No fixed pre-generated episode count: demos are generated on demand ('infinite supply'); v1.2.0 released 18 Feb 2022.
Facts
- Organisation
- Imperial College London (Stephen James et al.)
- Form tags
- single arm · simulation
- Embodiments (as stated)
- Franka Panda Arm (default) · Mico arm with Mico gripper · Jaco arm with 3-finger Jaco gripper · Sawyer arm with Baxter gripper · UR5 arm with Robotiq 85 gripper
- Episodes
- unverified
- Hours
- unverified
- Frames
- unverified
- Tasks
- 100
- Scenes
- unverified
- Modalities
- rgb · depth · state
- Format
- custom (CoppeliaSim/V-REP .ttm task files + Python task files; demonstrations generated on demand via motion planners)
- Licence
- Custom Imperial College London license (non-commercial academic research use only)
- Commercial use
- not allowed (stated)
- Released
- 2019-09
- Size
- unverified
Sources · 6 sources
embodiments https://github.com/stepjam/RLBench Official page · Fetched 2026-09-18 · No snapshot stored yet README: 'The default Franka Panda Arm can be swapped out for another' — Mico, Jaco, Sawyer, UR5 listed
tasks https://arxiv.org/abs/1909.12271 Official page · Fetched 2026-09-18 · No snapshot stored yet Abstract: '100 completely unique, hand-designed tasks ranging in difficulty'
modalities https://arxiv.org/abs/1909.12271 Official page · Fetched 2026-09-18 · No snapshot stored yet 'proprioceptive observations and visual observations, which include rgb, depth, and segmentation masks from an over-the-shoulder stereo camera and an eye-in-hand monocular camera'
format https://github.com/stepjam/RLBench Official page · Fetched 2026-09-18 · No snapshot stored yet 'Each task has 2 associated files: a V-REP model file (.ttm) ... and a python (.py) file'; abstract: 'infinite supply of demos through the use of motion planners'
license https://raw.githubusercontent.com/stepjam/RLBench/master/LICENSE Official page · Fetched 2026-09-18 · No snapshot stored yet Imperial College London license agreement; permits non-commercial academic research use only, prohibits commercial applications
release_date https://arxiv.org/abs/1909.12271 Official page · Fetched 2026-09-18 · No snapshot stored yet Submitted 26 Sep 2019
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Clear direction, grounded judgement.