RoboTransfer RealData and ARSG-110K

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

• id: robotransfer-realdata-and-arsg-110k
• kind: teleop
• robot or device: Real robot data; 3D scene set (class: other)
• how collected: not stated
• size as stated: 1,473 rows, 3.34 GB (RoboTransfer); 99 GB (ARSG-110K)
• hours: not stated | hours only claimed: none | episodes: not stated
• year: 2025
• organisation: Horizon Robotics
• licence: Apache-2.0 (class: open)
• access: open (class: open)
• link (dataset): https://huggingface.co/datasets/HorizonRobotics/RoboTransfer-RealData
• Hugging Face repository: HorizonRobotics/RoboTransfer-RealData, 252 downloads in 30 days, https://huggingface.co/datasets/HorizonRobotics/RoboTransfer-RealData
• note: 17 datasets on the Horizon org in total.
• download links of one episode: https://datasets.gurasees.com/episodes/HorizonRobotics/RoboTransfer-RealData.md?episode=0

Confirm the licence at the link before relying on it.