Dataset
BC-Z
Google large-scale real robot demos with language-conditioned multi-task manipulation.
Dataset
RoboSet
Multi-task real robot demonstration data for imitation and offline RL.
Overview
RoboSet provides multi-task real robot demonstrations for imitation and offline RL. It is a practical mid-scale real dataset when you need authentic robot trajectories without the full complexity of OXE mixtures.
Who it is for
IL and offline RL on real arms.
Key highlights
- Multi-task real demos
- Offline RL friendly
- Manageable scale
When to use
- Offline RL benchmarks
- Real multi-task BC
When not to use
- Cross-embodiment foundation pretrain at OXE scale
Getting started
- 1Download official release
- 2Run BC baseline
- 3Try a conservative offline RL method
How it compares
Caveats & pitfalls
- License check required for redistribution.
Content reviewed 2026-07-23