# ARNOLD

From the catalogue. Listed by one researcher from one source page.

- id: `arnold`
- kind: real manipulation scripted or autonomous
- robot or device: 7-DoF Franka Emika Panda in Isaac Sim (class: single arm)
- how collected: scripted, not teleop: motion planners, enriched with 2k human annotations
- size as stated: 10k expert demonstrations, 40 objects, 20 scenes
- hours: not stated | hours only claimed: none | episodes: 10,000
- year: 2023
- organisation: ARNOLD authors (UCLA, BIGAI and collaborators)
- licence: not stated (class: not stated)
- access: open (class: open)
- link (dataset): https://arnold-benchmark.github.io/
- note: Human input is keypoint annotation, not teleoperated trajectories.

## Copies and ports on the Hugging Face Hub

Uploads whose name carries this dataset's name, most downloaded first. Each has its own licence, which can differ from the original's.

| repository | robot | class | kind | episodes | hours | licence | downloads (30 d) |
|---|---|---|---|---|---|---|---|
| [ishika/lerobot_arnold_data](https://datasets.gurasees.com/datasets/ishika/lerobot_arnold_data.md) | Franka | single arm | recording | 623 | 1.9 | open | 142 |
| [paragon7060/arnold](https://datasets.gurasees.com/datasets/paragon7060/arnold.md) | Franka | single arm | recording | 3,570 | 10.9 | open | 95 |
| [paragon7060/arnold_data_pickup_fixed](https://datasets.gurasees.com/datasets/paragon7060/arnold_data_pickup_fixed.md) | Franka | single arm | recording | 623 | 1.9 | open | 45 |
| [ishika/lerobot_arnold_data_test](https://datasets.gurasees.com/datasets/ishika/lerobot_arnold_data_test.md) | Franka | single arm | test or scratch | 2 | 0 | open | 38 |
| [paragon7060/arnold-success-only](https://datasets.gurasees.com/datasets/paragon7060/arnold-success-only.md) | Franka | single arm | recording | 3,439 | 10.2 | not stated | 34 |
| [paragon7060/lerobot_arnold](https://datasets.gurasees.com/datasets/paragon7060/lerobot_arnold.md) | Franka | single arm | recording | 3,571 | 0.4 | open | 25 |

Confirm the licence at the link before relying on it.