# 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.