# Stanford Kuka Multimodal (OXE: stanford_kuka_multimodal_dataset)

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

- id: `stanford-kuka-multimodal-oxe-stanford-kuka-multimodal-dataset`
- kind: real manipulation scripted or autonomous
- robot or device: Kuka iiwa (class: single arm)
- how collected: expert policy, not teleop
- size as stated: 3,000 episodes, 31.98 GB
- hours: not stated | hours only claimed: none | episodes: 3,000
- year: 2019
- organisation: Stanford
- licence: not stated in OXE sheet (class: not stated)
- access: open (OXE bucket) (class: open)
- link (listing): https://docs.google.com/spreadsheets/d/1rPBD77tk60AEIGZrGSODwyyzs5FgCU9Uz3h-3_t2A9g/edit#gid=0
- note: Peg insertion with vision and force; not human demonstrations.
- 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.