Data
Data and simulation resources to train and test robots.
- PyBullet
Real-time physics simulation with a popular Python API for RL.
- Waymo Open Dataset
High-resolution perception and motion datasets from Waymo vehicles.
- AgiBot World
One million real humanoid manipulation trajectories across 100+ scenes.
- nuScenes
Multimodal driving dataset with LiDAR, radar and six cameras.
- RoboCasa
Large-scale simulated kitchens with generated demonstrations for everyday tasks.
- BEHAVIOR-1K
1,000 household activities in OmniGibson with fluids and deformables.
- LAFAN1
Ubisoft's high-quality locomotion mocap used for humanoid retargeting.
- Gazebo model database
Hundreds of ready-made SDF models of robots, objects and buildings.
- GraspNet-1Billion
Large-scale benchmark and baseline for general object grasping.
- AMASS
Unified human motion capture archive for training humanoid controllers.
- UUV Simulator
Gazebo packages for simulating underwater vehicles and manipulators.
- MimicGen
Generate thousands of demonstrations from a handful of human ones.
- OmniObject3D
6,000 real scanned objects with meshes, videos and point clouds.
- EPIC-KITCHENS-100
100 hours of first-person kitchen video with action and object labels.
- ONCE
One million LiDAR scenes for self-supervised 3D perception.
- EGAD
Evolved 3D-printable objects that span grasp difficulty and shape complexity.
