# TACO

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

- id: `taco`
- kind: egocentric
- robot or device: egocentric and allocentric cameras with mocap (class: human egocentric)
- how collected: bimanual tool-action-object tasks
- size as stated: not stated in abstract excerpt; 48.1 hours, worked out from frames and frame rate
- hours: 48.1 | hours only claimed: none | episodes: not stated
- year: 2024
- organisation: Tsinghua University
- licence: not stated (class: not stated)
- access: not stated (class: not stated)
- link (paper): https://arxiv.org/abs/2401.08399
- note: Bimanual hand-object interaction.
- download links of one episode: https://datasets.gurasees.com/episodes/IPEC-COMMUNITY/taco_play_lerobot.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) |
|---|---|---|---|---|---|---|---|
| [IPEC-COMMUNITY/taco_play_lerobot](https://huggingface.co/datasets/IPEC-COMMUNITY/taco_play_lerobot) [files](https://datasets.gurasees.com/episodes/IPEC-COMMUNITY/taco_play_lerobot.md?episode=0) | Franka | single arm | recording | 3,242 | 4 | open (apache-2.0, commercial use allowed) | 3,611 |
| [lerobot/taco_play](https://huggingface.co/datasets/lerobot/taco_play) [files](https://datasets.gurasees.com/episodes/lerobot/taco_play.md?episode=0) | not stated | other | recording | 3,603 | 4.4 | open (cc-by-4.0, commercial use allowed) | 2,681 |
| [Myungkyu/RMBench-taco-gemini](https://huggingface.co/datasets/Myungkyu/RMBench-taco-gemini) | not stated | other | other |  |  | not stated (check at the source) | 1,981 |
| [Myungkyu/RMBench-taco-wodemo-gemini](https://huggingface.co/datasets/Myungkyu/RMBench-taco-wodemo-gemini) | not stated | other | other |  |  | not stated (check at the source) | 625 |
| [Myungkyu/RoboDojo-taco-visual-gemini](https://huggingface.co/datasets/Myungkyu/RoboDojo-taco-visual-gemini) | not stated | other | other |  |  | not stated (check at the source) | 618 |
| [Hailey-5-2026/integration-Data-Collection-Dataset](https://huggingface.co/datasets/Hailey-5-2026/integration-Data-Collection-Dataset) [files](https://datasets.gurasees.com/episodes/Hailey-5-2026/integration-Data-Collection-Dataset.md?episode=0) | SO-100 or SO-101 | low cost arm | recording | 100 | 0.2 | open (apache-2.0, commercial use allowed) | 535 |

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.