Robot learning dataset
RH20T
Real-world manipulation dataset covering 147 tasks and over 110,000 sequences, with synchronized visual, robot-state, force-torque, audio and selected fingertip tactile data. RH20T-C is licensed CC BY-SA 4.0. RH20T-NC prohibits commercial use, but its stated CC BY-NC 4.0 label links to CC BY-NC-SA 4.0; the catalog leaves the combined license and commercial-use flag unresolved.
Records last verified Oct 13, 2026 · Send a correction
Licence & use
Licence not established
Commercial use: not established
Terms apply to the checked release. Read publisher conditions for mixed collections, converted formats and gated access.
- Publisher
- RH20T authors
- Released
- Not dated
- Published size
- 40 TB
- Modalities
- rgb, depth, infrared, proprioception, force-torque, audio, tactile
- Formats
- TAR.GZ
- Real / simulated
- Real
- Includes humanoid recordings
- No
Size & release notes
Project publishes 40 TB for the original dataset, ~5 TB for resized RGB and ~10 TB for resized RGBD. The sequence count is only stated as over 110,000. Tactile sensing is limited to configuration 7. Licence conflict: RH20T-NC text names CC BY-NC 4.0, but its licence link opens CC BY-NC-SA 4.0; RH20T-C names CC BY-SA 4.0.
Models disclosing this training dataset
More robot learning datasets
Evidence
Sources
- [s1] RH20T project page (license and size sections) ↗
RH20T authors · official · accessed Oct 13, 2026
- [s2] RH20T: A Comprehensive Robotic Dataset for Learning Diverse Skills in One-Shot ↗
arXiv · paper · published Jul 2, 2023 · accessed Oct 13, 2026
- [s3] License destination linked by the RH20T-NC label ↗
Creative Commons · official · accessed Oct 13, 2026