Benchmarking Robot Manipulation

Datasets

Latest Updates: July 23, 2025

Manipulation Datasets: [7/23/25] New repository launched with 6 entries to date! 🤖 LINK 🤖
Grasp Datasets: [5/8/25] New entries (50 total): GraspClutter6D, MetaGraspNetV2, OCID_Grasp Dataset, PointNet++ Grasping 🤖 LINK 🤖
Object Datasets: [7/23/25] New entry (15 total): 2BY2 Dataset 🤖 LINK 🤖
Motion Planning Datasets: Under development! If you have a dataset to contribute, please submit using this form: 🤖 LINK 🤖

Want to submit a benchmarking asset to be listed? Use this Google form: https://forms.gle/LHrtmDpm82X4qrDk6

We are building repositories of benchmarking assets for robot manipulation. Help us build it! Use the Google form linked above to submit an open-source product or give us feedback on how it's organized by joining the COMPARE Slack workspace linked at the bottom of the page!

Relevant COMPARE Slack Channel: #benchmarking_datasets

To sort and organize the repositories, open them in Google Spreadsheets by clicking the "Open Spreadsheets" icon in the top-right that appears when you hover over the sheet below, then use the drop-down menus along the top to find what you need.

Manipulation Datasets

Data, Data Types, Camera Views, Robot Hardware, Relevant Applications, Relevant Tasks, Relevant Physical Objects and Artifacts, Samples, Tasks, Notes, Link(s), License, Citation, Year (Initial Release)

Manipulation Datasets

Grasp Datasets

Focus, Data Type, Object Set, Input Data, Output Pose, End-effector Hardware, # of Grasps, # of Objects, # of Samples, Link(s), License, Maintainer(s), Citation, Year (Initial Release)

Grasp Datasets

Object Datasets

Data, Data Type, Camera Views, Robot Hardware, Relevant Applications, Relevant Tasks, Corresponding Physical, Link(s), License, Citation, Year (Initial Release)