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Datasets/Mobile manipulation/UTokyo PR2 — Opening a Refrigerator
✓ Source card reviewedMITVersion: LeRobot v2

UTokyo PR2 — Opening a Refrigerator

A compact PR2 dataset for opening a refrigerator, containing 80 episodes and 11,522 frames with language instructions, observations and robot actions at 5 Hz.

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Published by Jihoon Oh et al.LeRobot / University of Tokyo · Source updated 18 Jul 2026 · Reviewed 17 Jul 2026
View dataset files ↗30.7 MB · LeRobot v2Downloads and licence terms are handled by the original publisher on Hugging Face.

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This dataset, explained simply

Intermediate

A compact PR2 dataset for opening a refrigerator, containing 80 episodes and 11,522 frames with language instructions, observations and robot actions 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
Preview only
PUBLISHER-HOSTED MEDIAOpen genuine dataset samplesJihoon Oh et al. · source repositoryView real samples at source ↗
EXAMPLE OF THE TASKMove the PR2 to the refrigerator and open its door.
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 compact PR2 dataset for opening a refrigerator, containing 80 episodes and 11,522 frames with language instructions, observations and robot actions at 5 Hz.

80Reported episodes
5 HzReported frequency
38m 24sReported duration
LeRobot v2Dataset format

KNOWN CONFIGURATION

Robot, observations and reuse

Robot or capture systemPR2 mobile manipulator
Reported observationsRGB video, Robot state, Language
ActionsRobot actions are included
EnvironmentReal-world · mobile manipulation
Licence shown on source cardMIT

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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