# Stanford Kuka Multimodal (Making Sense of Vision and Touch)

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

- id: `stanford-kuka-multimodal-making-sense-of-vision-and-touch`
- kind: tactile force audio
- robot or device: Kuka iiwa peg insertion with force feedback (class: single arm)
- how collected: self-supervised autonomous
- size as stated: 3,000 episodes; 31.98 GiB
- hours: not stated | hours only claimed: none | episodes: 3,000
- year: 2019
- organisation: Stanford
- licence: not stated (class: not stated)
- access: open (class: open)
- link (dataset): https://www.tensorflow.org/datasets/catalog/stanford_kuka_multimodal_dataset_converted_externally_to_rlds
- note: Force-torque plus vision for insertion.
- download links of one episode: https://datasets.gurasees.com/episodes/lerobot/stanford_kuka_multimodal_dataset.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) |
|---|---|---|---|---|---|---|---|
| [lerobot/stanford_kuka_multimodal_dataset](https://huggingface.co/datasets/lerobot/stanford_kuka_multimodal_dataset) [files](https://datasets.gurasees.com/episodes/lerobot/stanford_kuka_multimodal_dataset.md?episode=0) | Kuka | single arm | recording | 3,000 | 2.1 | open (mit, commercial use allowed) | 3,032 |
| [aliberts/stanford_kuka_multimodal_dataset](https://huggingface.co/datasets/aliberts/stanford_kuka_multimodal_dataset) [files](https://datasets.gurasees.com/episodes/aliberts/stanford_kuka_multimodal_dataset.md?episode=0) | Kuka | single arm | recording | 3,000 | 2.1 | not stated (check at the source) | 135 |
| [THULab/lerobot_stanford_kuka_multimodal_dataset](https://huggingface.co/datasets/THULab/lerobot_stanford_kuka_multimodal_dataset) [files](https://datasets.gurasees.com/episodes/THULab/lerobot_stanford_kuka_multimodal_dataset.md?episode=0) | Kuka | single arm | recording | 3,000 | 2.1 | open (mit, commercial use allowed) | 54 |

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.