# Franka Kitchen (Relay Policy Learning) and D4RL kitchen

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

- id: `franka-kitchen-relay-policy-learning-and-d4rl-kitchen`
- kind: teleop
- robot or device: 9-DoF position-controlled Franka in a MuJoCo kitchen (class: single arm)
- how collected: human teleop with the PUPPET MuJoCo VR system
- size as stated: 400 sequences per Relay Policy Learning paper; Diffusion Policy cites 566 demos; D4RL kitchen-complete 3,680, partial 136,950, mixed 136,950 samples
- hours: not stated | hours only claimed: none | episodes: 566
- year: 2019
- organisation: Google Brain / UC Berkeley (Gupta et al.); D4RL and Farama Minari rehost
- licence: not stated (class: not stated)
- access: open (class: open)
- link (dataset): https://minari.farama.org/datasets/D4RL/kitchen/
- note: All three D4RL kitchen splits derive from the same human VR data.
- download links of one episode: https://datasets.gurasees.com/episodes/tyc1333/real_franka_kitchen.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) |
|---|---|---|---|---|---|---|---|
| [tyc1333/real_franka_kitchen](https://huggingface.co/datasets/tyc1333/real_franka_kitchen) [files](https://datasets.gurasees.com/episodes/tyc1333/real_franka_kitchen.md?episode=0) | Franka | single arm | recording | 14 | 0.1 | open (apache-2.0, commercial use allowed) | 86 |
| [tyc1333/real_franka_kitchen_0512](https://huggingface.co/datasets/tyc1333/real_franka_kitchen_0512) [files](https://datasets.gurasees.com/episodes/tyc1333/real_franka_kitchen_0512.md?episode=0) | Franka | single arm | recording | 136 | 1.5 | open (apache-2.0, commercial use allowed) | 67 |
| [tyc1333/real_franka_kitchen_2](https://huggingface.co/datasets/tyc1333/real_franka_kitchen_2) [files](https://datasets.gurasees.com/episodes/tyc1333/real_franka_kitchen_2.md?episode=0) | Franka | single arm | recording | 87 | 0.5 | open (apache-2.0, commercial use allowed) | 47 |

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.