Dataset · Hugging Face

UMIbenchmark/UMI-Benchmark-v1

Name: UMI-Benchmark-v1
Creator: UMIbenchmark
License: cc-by-4.0
Keywords: language:en, license:cc-by-4.0, size_categories:10K<n<100K, format:text, modality:text, library:datasets, library:mlcroissant, region:us, robotics, robot-learning, imitation-learning, manipulation

UMI-Benchmark-v1 UMI-Benchmark-v1 contains 20,000 real-world robot manipulation sessions across 10 tasks: 4 single-arm tasks and 6 dual-arm tasks. Dataset Summary Category Tasks Sessions Single-arm 4 9,988 Dual-arm 6 10,012 Total 10 20,000 Tasks ID Folder Type Task Sessions T1 single_arm_task1 Single-arm Stack Baskets 3,000 T2 single_arm_task2 Single-arm Trash Bag 1,991 T3 single_arm_task3 Single-arm Stamp Ink 2… See the full description on the dataset page: https://huggingface.co/datasets/UMIbenchmark/UMI-Benchmark-v1.

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Author / organization	UMIbenchmark
License (as declared)	cc-by-4.0
Downloads	15.8K (as reported by Hugging Face)
Likes	3
Created	3 June 2026
Last updated at source	28 September 2026

roboticsrobot-learningimitation-learningmanipulation

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