TOTO Benchmark (OXE: toto)

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

• id: toto-benchmark-oxe-toto
• kind: teleop
• robot or device: Franka (class: single arm)
• how collected: mixed: VR teleoperation, behaviour-cloning policy rollouts, trajectory replay with noise
• size as stated: 2,898 trajectories at release (paper); OXE copy 901 episodes
• hours: not stated | hours only claimed: none | episodes: 2,898
• year: 2023
• organisation: CMU and collaborators (Zhou, Dean, Srirama et al.)
• licence: not stated (class: not stated)
• access: open (class: open)
• link (paper): https://arxiv.org/abs/2306.00942
• note: Scooping and pouring; only part is teleop.

Confirm the licence at the link before relying on it.