# CMU Stretch

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

- id: `cmu-stretch`
- kind: real manipulation scripted or autonomous
- robot or device: Hello Stretch (class: mobile manipulator)
- how collected: expert policy per OXE sheet, not teleop
- size as stated: 135 episodes, 0.71 GB
- hours: not stated | hours only claimed: none | episodes: 135
- year: 2023
- organisation: CMU
- licence: MIT (lerobot mirror) (class: open)
- access: open (class: open)
- link (dataset): https://huggingface.co/datasets/lerobot/cmu_stretch
- Hugging Face repository: `lerobot/cmu_stretch`, 596 downloads in 30 days, https://huggingface.co/datasets/lerobot/cmu_stretch
- other names: CMU Stretch (OXE: cmu_stretch)
- note: Often grouped with teleop Stretch data. OXE sheet says expert policy.

## 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/cmu_stretch_lerobot](https://datasets.gurasees.com/datasets/IPEC-COMMUNITY/cmu_stretch_lerobot.md) | Stretch | mobile manipulator | recording | 135 | 0.7 | open | 508 |
| [saaduddinM/OXE_cmu_stretch_embeddings](https://datasets.gurasees.com/datasets/saaduddinM/OXE_cmu_stretch_embeddings.md) | Stretch | mobile manipulator | recording | 135 | 0.7 | open | 273 |
| [ygtxr1997/cmu_stretch_lerobot](https://datasets.gurasees.com/datasets/ygtxr1997/cmu_stretch_lerobot.md) | Stretch | mobile manipulator | recording | 135 | 0.7 | open | 91 |
| [THULab/cmu_stretch](https://datasets.gurasees.com/datasets/THULab/cmu_stretch.md) | Stretch | mobile manipulator | recording | 135 | 1.4 | open | 69 |
| [THULab/lerobot_cmu_stretch](https://datasets.gurasees.com/datasets/THULab/lerobot_cmu_stretch.md) | Stretch | mobile manipulator | recording | 135 | 1.4 | open | 69 |
| [FedorX8/cmu_stretch_lerobot](https://datasets.gurasees.com/datasets/FedorX8/cmu_stretch_lerobot.md) | Stretch | mobile manipulator | recording | 135 | 0.7 | open | 25 |

Confirm the licence at the link before relying on it.