Robot Manipulation

Datasets

Latest Updates: November 2025

Grasp Datasets: [9/18/25] New entries (59 total): 3DAP Dataset, BODex, Dexonomy, GraspXL [updated], Language and Vision Augmented TaskGrasp (LaViA-TaskGrasp), Language Augmented TaskGrasp (LA-TaskGrasp), QDGset, RealDex 🤖 LINK 🤖
Manipulation Datasets: [10/16/25] New entries (11 total): AgiBot World, BridgeData V2, Kaiwu, LIBERO, PartInstruct 🤖 LINK 🤖
Object Datasets: [11/29/25] New entries (16 total): NIST Manufacturing Objects and Assemblies Dataset (MOAD) v2, Infinigen-Articulated 🤖 LINK 🤖
Motion Planning Datasets: Under development! If you have a dataset to contribute, please submit using this form: 🤖 LINK 🤖

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

We are building repositories of datasets 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: #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.

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

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

Object Datasets

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