# Berkeley Autolab UR5 (OXE: berkeley_autolab_ur5)

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

- id: `berkeley-autolab-ur5-oxe-berkeley-autolab-ur5`
- kind: teleop
- robot or device: UR5 (class: single arm)
- how collected: SpaceMouse teleoperation (per OXE sheet)
- size as stated: 896 train + 104 test episodes, 76.39 GiB
- hours: not stated | hours only claimed: none | episodes: 1,000
- year: 2023
- organisation: UC Berkeley AUTOLAB (Chen, Adebola, Goldberg)
- licence: not stated (class: not stated)
- access: open (class: open)
- link (dataset): https://sites.google.com/view/berkeley-ur5/home
- note: Four tasks including cloth manipulation and pick-place.
- download links of one episode: https://datasets.gurasees.com/episodes/IPEC-COMMUNITY/berkeley_autolab_ur5_lerobot.md?episode=0

## 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) |
|---|---|---|---|---|---|---|---|
| [IPEC-COMMUNITY/berkeley_autolab_ur5_lerobot](https://huggingface.co/datasets/IPEC-COMMUNITY/berkeley_autolab_ur5_lerobot) [files](https://datasets.gurasees.com/episodes/IPEC-COMMUNITY/berkeley_autolab_ur5_lerobot.md?episode=0) | UR | single arm | recording | 896 | 4.9 | open (apache-2.0, commercial use allowed) | 1,920 |
| [lerobot/berkeley_autolab_ur5](https://huggingface.co/datasets/lerobot/berkeley_autolab_ur5) [files](https://datasets.gurasees.com/episodes/lerobot/berkeley_autolab_ur5.md?episode=0) | not stated | other | recording | 1,000 | 5.4 | open (cc-by-4.0, commercial use allowed) | 1,236 |
| [oxe-auge/berkeley_autolab_ur5_train_200_300_augmented](https://huggingface.co/datasets/oxe-auge/berkeley_autolab_ur5_train_200_300_augmented) [files](https://datasets.gurasees.com/episodes/oxe-auge/berkeley_autolab_ur5_train_200_300_augmented.md?episode=0) | Other robots | other | recording | 100 | 0.5 | open (cc-by-4.0, commercial use allowed) | 261 |
| [lance-format/berkeley_autolab_ur5-lance](https://huggingface.co/datasets/lance-format/berkeley_autolab_ur5-lance) [files](https://datasets.gurasees.com/episodes/lance-format/berkeley_autolab_ur5-lance.md?episode=0) | not stated | other | recording | 1,000 | 5.4 | open (apache-2.0, commercial use allowed) | 242 |
| [oxe-auge/berkeley_autolab_ur5_train_800_896_augmented](https://huggingface.co/datasets/oxe-auge/berkeley_autolab_ur5_train_800_896_augmented) [files](https://datasets.gurasees.com/episodes/oxe-auge/berkeley_autolab_ur5_train_800_896_augmented.md?episode=0) | Other robots | other | recording | 96 | 0.5 | open (cc-by-4.0, commercial use allowed) | 172 |
| [oxe-auge/berkeley_autolab_ur5_train_300_400_augmented](https://huggingface.co/datasets/oxe-auge/berkeley_autolab_ur5_train_300_400_augmented) [files](https://datasets.gurasees.com/episodes/oxe-auge/berkeley_autolab_ur5_train_300_400_augmented.md?episode=0) | Other robots | other | recording | 100 | 0.6 | open (cc-by-4.0, commercial use allowed) | 169 |

Each repository links to its Hugging Face page. `files` opens the download links of its first episode, on LeRobot uploads, which are the ones whose episodes are marked. Everything this index knows about one upload: https://datasets.gurasees.com/datasets/{repository}.md

Confirm the licence at the link before relying on it.