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Datasets/Assembly/UTokyo xArm Bimanual — Compact Two-Arm Demonstrations
✓ Source card reviewedCC BY 4.0Version: LeRobot v2

UTokyo xArm Bimanual — Compact Two-Arm Demonstrations

A very small bimanual xArm collection with 70 episodes, 1,514 frames, two tasks, language instructions, robot state and actions at 10 Hz—useful for learning the LeRobot structure without a large download.

UoTW
Published by University of Tokyo WebLabLeRobot / University of Tokyo · Source updated 18 Jul 2026 · Reviewed 17 Jul 2026
View dataset files ↗8.56 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 very small bimanual xArm collection with 70 episodes, 1,514 frames, two tasks, language instructions, robot state and actions at 10 Hz—useful for learning the LeRobot structure without a large download.

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 samplesUniversity of Tokyo WebLab · source repositoryView real samples at source ↗
EXAMPLE OF THE TASKCoordinate both xArm manipulators to complete the recorded bimanual task.
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 very small bimanual xArm collection with 70 episodes, 1,514 frames, two tasks, language instructions, robot state and actions at 10 Hz—useful for learning the LeRobot structure without a large download.

70Reported episodes
10 HzReported frequency
2m 31sReported duration
LeRobot v2Dataset format

KNOWN CONFIGURATION

Robot, observations and reuse

Robot or capture systemDual xArm
Reported observationsRGB video, Robot state, Language
ActionsRobot actions are included
EnvironmentReal-world · 2 bimanual tasks
Licence shown on source cardCC BY 4.0

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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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