✓ Source card reviewedCC BY 4.0Version: LeRobot
PhysicalAI Single-Arm Manipulation Collection
Six procedurally generated Franka manipulation datasets covering block stacking, cabinet opening, and drawer opening, with RGB-D cameras, state, and joint or end-effector actions.
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Published by NVIDIANVIDIA Physical AI · Source updated 18 Mar 2025 · Reviewed 17 Jul 2026View dataset files ↗6 sub-datasets · LeRobotDownloads and licence terms are handled by the original publisher on Hugging Face. START HERE
This dataset, explained simply
A simulated Franka arm practices tasks such as stacking blocks and opening drawers.
WHAT CAN I TRAIN?✓ Single-arm manipulation policies✓ Simulation pretraining✓ Drawer-opening policies
WHAT DO I NEED?• Isaac Sim familiarity• LeRobot tooling• Choose one sub-dataset first
SUITABILITY✓ Contains robot actions✓ No physical robot required• Check source for language labels
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 versionLeRobotTraining 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
Preview onlyEXAMPLE OF THE TASKGrasp the drawer handle and pull the top drawer open.
DATASET OVERVIEW
What the publisher reports
Six procedurally generated Franka manipulation datasets covering block stacking, cabinet opening, and drawer opening, with RGB-D cameras, state, and joint or end-effector actions.
6Reported episodes
See sub-datasetReported frequency
Not reportedReported duration
LeRobotDataset format
KNOWN CONFIGURATION
Robot, observations and reuse
Robot or capture systemFranka Panda (Isaac Sim)
Reported observationsWorld RGB-D, Wrist RGB-D, Robot state
ActionsRobot actions are included
EnvironmentSimulation · 6 sub-datasets
Licence shown on source cardCC BY 4.0
TRUST & LIMITATIONS
What EmbodiedData has—and has not—checked
Original Hugging Face source linkChecked
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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