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Datasets/General manipulation/Berkeley UR5 — Five Manipulation Tasks
✓ Source card reviewedCC BY 4.0Version: LeRobot v2

Berkeley UR5 — Five Manipulation Tasks

A UC Berkeley UR5 demonstration dataset spanning five tasks, with 1,000 episodes, 97,939 frames and three camera streams at 5 Hz.

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Published by AUTOLABLeRobot / UC Berkeley · Source updated 18 Jul 2026 · Reviewed 17 Jul 2026
View dataset files ↗15.5 GB · LeRobot v2Downloads and licence terms are handled by the original publisher on Hugging Face.

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This dataset, explained simply

Intermediate

A UC Berkeley UR5 demonstration dataset spanning five tasks, with 1,000 episodes, 97,939 frames and three camera streams at 5 Hz.

WHAT CAN I TRAIN?✓ Robot-learning experiments
WHAT DO I NEED?• Python basics
SUITABILITY✓ Contains robot actions✓ Real-world recordings✓ Includes language
New to the terminology?Episode = one complete attemptObservation = what the robot sees and sensesAction = the command sent to the robot

VERIFICATION RECORD

What EmbodiedData checked

Source statusAvailable at publisherLast checked17 July 2026Dataset versionLeRobot v2Training instructionsNot tested by EmbodiedData

Verification confirms the linked metadata at the stated date. It is not a guarantee that upstream files, dependencies or licences will remain unchanged.

Dataset previewIllustrative image—not an original dataset frame
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PUBLISHER-HOSTED MEDIAOpen genuine dataset samplesAUTOLAB · source repositoryView real samples at source ↗
EXAMPLE OF THE TASKComplete one of the five recorded UR5 manipulation tasks.
View real samples on Hugging Face ↗

Original media, file structure, and dataset viewer are provided by the publisher.

DATASET OVERVIEW

What the publisher reports

A UC Berkeley UR5 demonstration dataset spanning five tasks, with 1,000 episodes, 97,939 frames and three camera streams at 5 Hz.

1,000Reported episodes
5 HzReported frequency
5h 26mReported duration
LeRobot v2Dataset format

KNOWN CONFIGURATION

Robot, observations and reuse

Robot or capture systemUR5
Reported observations3× RGB video, Robot state, Language
ActionsRobot actions are included
EnvironmentReal-world · 5 tasks
Licence shown on source cardCC BY 4.0

TRUST & LIMITATIONS

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Summary against publisher cardReviewed
File integrity and missing valuesNot independently tested
Privacy, safety and legal complianceNot independently tested

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SOURCE & CITATION

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