# 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.
- files: https://huggingface.co/datasets/HorizonRobotics/RoboTransfer-RealData/tree/main. It has no LeRobot metadata at its top level, so episodes are not marked there. If it keeps datasets in folders, this lists them: https://datasets.gurasees.com/episodes/HorizonRobotics/RoboTransfer-RealData.md

Confirm the licence at the link before relying on it.