Dataset
BC-Z
Google large-scale real robot demos with language-conditioned multi-task manipulation.
Dataset
RH20T
Large multi-modal real manipulation dataset with multiple sensors and task types.
Overview
RH20T is a large multi-modal real manipulation dataset with multiple sensors (including tactile in many sequences) and diverse tasks. It is attractive when your research needs more than RGB+proprio—e.g., tactile fusion or rich multi-sensor imitation.
Who it is for
Multi-modal / tactile manipulation researchers.
Key highlights
- Multi-sensor real demos
- Large sequence count
- Tactile-inclusive modalities
When to use
- Tactile or multi-sensor imitation
- Pretrain with richer modalities
When not to use
- RGB-only pipelines that ignore extra sensors
Getting started
- 1Review modality layout
- 2Start with RGB-only subset if needed
- 3Add tactile streams incrementally
Papers & reading
How it compares
Caveats & pitfalls
- Research licenses common; verify commercial terms.
Content reviewed 2026-07-23