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RH20T

Name: RH20T
Creator: Real-world
License: Research Only

Multi-modal contact-rich skills

Indexed from an external sourceReal-worldUpdated 2023-07-05Research Only

Published by

SJTU MVIG

RobotData indexes this dataset's metadata. Attribution and licensing stay with the original publisher.

Over 110,000 contact-rich robot sequences plus paired human demonstrations, spanning 147 tasks on 7 robot/gripper configurations. Every clip carries force-torque, tactile and audio alongside multi-view RGB-D — the richest sensor stack of any public manipulation set.

Indexed episode structure

Per-episode numbers RobotData has indexed locally (camera count, DoF, control rate, success rate). "Not indexed yet" means we have not recorded that number — it does not mean the publisher's data lacks observations, state or actions. See the source-backed profile above for what the publisher documents.

Observation

10 cameras

State

7 DoF

Action

10 Hz

Result

Not indexed yet

Data modalities

● RGB Video● Depth● Joint Positions○ Robot State● Actions● Force/Torque● Audio● Language Instructions● Tactile

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