# CAPs (Contact-Anchored Policies) dataset

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

- id: `caps-contact-anchored-policies-dataset`
- kind: handheld gripper
- robot or device: handheld gripper with contact conditioning (class: single arm)
- how collected: human-collected demonstrations
- size as stated: 26,138 trajectories, about 23 hours
- hours: 23 | hours only claimed: none | episodes: 26,138
- year: 2026
- organisation: not stated
- licence: MIT (class: open)
- access: open (class: open)
- link (dataset): https://huggingface.co/datasets/zavierand/CAPs
- Hugging Face repository: `zavierand/CAPs`, 634 downloads in 30 days, https://huggingface.co/datasets/zavierand/CAPs
- note: Contact-anchored utility models.

## 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) |
|---|---|---|---|---|---|---|---|
| [BAAI-DataCube/AgiBotWorld-Beta_G1_task_431_Boil_coffee_with_a_capsule_machine](https://datasets.gurasees.com/datasets/BAAI-DataCube/AgiBotWorld-Beta_G1_task_431_Boil_coffee_with_a_capsule_machine.md) | AgiBot | humanoid | recording | 674 | 11.2 | not stated | 545 |
| [RoboCOIN/R1_Lite_move_the_position_of_the_coffee_capsule](https://datasets.gurasees.com/datasets/RoboCOIN/R1_Lite_move_the_position_of_the_coffee_capsule.md) | Galaxea | mobile manipulator | recording |  |  | open | 459 |
| [villekuosmanen/pick_coffee_capsule_merged](https://datasets.gurasees.com/datasets/villekuosmanen/pick_coffee_capsule_merged.md) | ARX | single arm | recording | 770 | 2.5 | open | 309 |
| [BAAI-DataCube/AgiBotWorld-Beta_G1_task_434_Take_out_the_capsules_from_the_coffee_machine](https://datasets.gurasees.com/datasets/BAAI-DataCube/AgiBotWorld-Beta_G1_task_434_Take_out_the_capsules_from_the_coffee_machine.md) | AgiBot | humanoid | recording | 483 | 6.4 | not stated | 225 |
| [ilustraviz/cortex-cafe-capsula-copo](https://datasets.gurasees.com/datasets/ilustraviz/cortex-cafe-capsula-copo.md) | SO-100 or SO-101 | low cost arm | recording | 28 | 0.2 | open | 219 |
| [lirislab/put_caps_into_teabox](https://datasets.gurasees.com/datasets/lirislab/put_caps_into_teabox.md) | SO-100 | low cost arm | recording | 30 | 0.1 | open | 196 |

Confirm the licence at the link before relying on it.