Robotic Data Collection

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22 papers in the last four weeks, up 214% on the four weeks before. 0.2% of all new papers.

Jul 13Week of Sep 28

Latest papers 113

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Scalable Behavior Cloning with Open Data, Training, and Evaluation
Jun 25, 2026Arthur Allshire, Himanshu Gaurav Singh, Ritvik Singh +15Robot Policy Learning Diffusion Transformer
UC Berkeley · MIT · XDOF +2
HumanoidUMI: Bridging Robot-Free Demonstrations and Humanoid Whole-Body Manipulation
Jun 25, 2026Hongwu Wang, Chenhao Yu, Youhao Hu +3Robot Skill Learning Robotic Data Collection
Beijing Academy of Artificial Intelligence
Bridging Handheld and Teleoperated Supervision for Contact-Rich Manipulation via State-Gated Experts
Jun 25, 2026Vidullan Surendran, Neehar Peri, David WatkinsContact-Rich Robotic Manipulation Robotic Data Collection
RAI Institute · Carnegie Mellon University
ForceBand: Learning Forceful Manipulation with sEMG
Jun 24, 2026Botao He, Zhi Wang, Linna Kuang +8Robot Skill Learning Contact-Rich Robotic Manipulation
Amazon FAR · University of Maryland · Johns Hopkins University
AutoDex: An Automated Real-World System for Dexterous Grasping Data Collection
Jun 22, 2026Mingi Choi, Gunhee Kim, Jisoo Kim +4Robotic Grasping Robotic Data Collection
Seoul National University · RLWRLD
TSD: A Physics-Inspired Trajectory Saliency Detector for Efficient Imitation Learning
Jun 22, 2026Yiming Zhao, Gongrui Ma, Qingkai Li +1Robotic Data Collection Imitation Learning
Department of Automation, Tsinghua University, Beijing 100084, China
Duet: Dual-Robot Understanding via Efficient Teaching
Jun 18, 2026Yiqi Zhao, Ruohai Ge, Celina Shiyu Wang +10Robotic Data Collection Robot Teleoperation
University of Southern California · 2Toyota Research Institute · 3Stanford University
ForEnt: A Multi-Modal Dataset for Characterizing Quadruped Robot Entrapments in Forest Environments
Jun 18, 2026Natapat Kirdwichai, Danesh TaraporeRobotic Data Collection Robotics
Faculty of Engineering and Physical Sciences, University of Southampton, United Kingdom
Do as I Do: Dexterous Manipulation Data from Everyday Human Videos
Jun 17, 2026Bhawna Paliwal, Haritheja Etukuru, William Liang +3Robotic Data Collection Cross-Embodiment Robot Learning
UC Berkeley
AnnotateAnything: Automatic Annotation of 3D Assets for Robot Manipulation
Jun 16, 2026Haoran Lu, Mutian Shen, Shuyang Yu +9Robotic Data Collection Robotics Simulation
Northwestern University · Peking University
EgoInfinity: A Web-Scale 4D Hand-Object Interaction Data Engine for Any-View Robot Retargeting and Video-to-Action Robot Learning
Jun 16, 2026Gaotian Wang, Kejia Ren, Andrew Morgan +4Robotic Data Collection Cross-Embodiment Robot Learning
Rice University · Robotics and AI Institute
JoyAI-Sim: A Simulation-Enabled Interconversion Toolchain for the Embodied Data Pyramid
Jun 15, 2026Peidong Liu, Yongce Liu, Songyan Guo +34Robotic Data Collection Robotics Simulation
Joy Future Academy, JD Group
HATS: A Human-Agent Teleoperation System for Multi-Arm Data Collection
Jun 15, 2026Zesen Lin, Jian-Jian Jiang, Haoming Cen +3Robotic Data Collection Robot Teleoperation
School of Computer Science and Engineering, Sun Yat-sen University, China · 2Nanyang Technological University, Singapore · 3Imperial College London, UK
EgoGuide: Egocentric Guidance for Efficient Robot-Free Demonstration Collection and Learning
Jun 12, 2026Yue Xu, Mingtao Nie, Tianle Li +4Robot Skill Learning Robotic Data Collection
Shanghai Jiao Tong University · Beijing Institute for General Artificial Intelligence (BIGAI) · Shanghai Innovation Institute
Kine2Go: Kinematic dataset for the Unitree Go2 robot with diverse gaits and motions
Jun 12, 2026Władysław Pałucki, Paweł Siwak, Krzysztof Ciebiera +1Robotic Data Collection Synthetic Data Generation for Robotics
University of Warsaw
EgoEngine: From Egocentric Human Videos to High-Fidelity Dexterous Robot Demonstrations
Jun 10, 2026Yangcen Liu, Shuo Cheng, Xinchen Yin +6Zero-Shot Robotic Manipulation Robot Skill Learning
Georgia Institute of Technology · Tsinghua University
YUBI: Yielding Universal Bidigital Interface for Bimanual Dexterous Manipulation at Scale
Jun 8, 2026Takehiko Ohkawa, Jumpei Arima, Yuki Noguchi +16Dexterous Manipulation Bimanual Robotic Manipulation
1AI Robot Association (AIRoA) · 2Toyota Motor Corporation · 4The University of Tokyo +5
AetheRock: An Arm-Worn Robot Teaching System for Force-Guided Vision-Tactile Learning
Jun 8, 2026Hong Li, Yue Xu, Yihan Tang +8Representation Learning Contact-Rich Robotic Manipulation
Shanghai Jiao Tong University · Beijing Institute for General Artificial Intelligence (BIGAI) · Ant Group +1
RealDexUMI: A Wearable Universal Manipulation Interface for Dexterous Robot Learning
Jun 4, 2026Chaoyi Xu, Yixuan Jiang, Jiahui Huan +7Dexterous Manipulation In-Hand Manipulation
Peking University · BeingBeyond · Beihang University +2
VISTA: Vision-Grounded and Physics-Validated Adaptation of UMI data for VLA Training
Jun 3, 2026Siyuan Yang, Linzheng Guo, Ouyang Lu +10VLM Adaptation Robotic Data Collection
Institute of AI (TeleAI), China Telecom · University of Science and Technology of China · 4Northwestern Polytechnical University +5
RoboDream: Compositional World Models for Scalable Robot Data Synthesis
Jun 1, 2026Junjie Ye, Rong Xue, Basile Van Hoorick +6Robot Skill Learning Robotic Data Collection
1USC Physical Superintelligence (PSI) Lab · 2Toyota Research Institute
VR-DAgger: Immersive VR for Dexterous Data Collection and Uncertainty-Guided On-Policy Correction
May 26, 2026René Zurbrügg, Tifanny Portela, Arjun Bhardwaj +3Robotic Data Collection Robot Teleoperation
The Authors are with the Robotics Systems Lab ETH Zürich.
COBALT: Crowdsourcing Robot Learning via Cloud-Based Teleoperation with Smartphones
May 18, 2026Ayush Agarwal, Ansh Gandhi, Jeremy A. Collins +6Robot Skill Learning Robotic Data Collection
Georgia Institute of Technology · University of California, Berkeley · New York University Abu Dhabi (NYUAD) +2
EgoKit: Towards Unified Low-Cost Egocentric Data Collection with Heterogeneous Devices
May 16, 2026Liuchuan Yu, Erdem Murat, Beichen Wang +10Robotic Data Collection Egocentric Vision
George Mason University, Computer Science, Fairfax, Virginia 22030, USA.
Learning What Matters: Adaptive Information-Theoretic Objectives for Robot Exploration
May 12, 2026Youwei Yu, Jionghao Wang, Zhengming Yu +2Robotic Data Collection Robot Navigation
Luddy School of Informatics, Computing, and Engineering, Indiana University, Bloomington, IN, USA · Department of Computer Science & Engineering, Texas A&M University, College Station, TX, USA
SEVO: Semantic-Enhanced Virtual Observation for Robust VLA Manipulation via Active Illumination and Data-Centric Collection
May 11, 2026Tianchonghui Fang, Yuan Zhuang, Fei MiaoRobotic Data Collection Robotic Manipulation
School of Computing, University of Connecticut, Storrs, CT 06268, USA
SABER: A Scalable Action-Based Embodied Dataset for Real-World VLA Adaptation
May 10, 2026Narsimha Menga, Parikshit Sakurikar, Amirreza Rouhi +6Robot Skill Learning Robotic Data Collection
DreamVu1
Bi3: A Biplatform, Bicultural, Biperson Dataset for Social Robot Navigation
May 7, 2026Andrew Stratton, Phani Teja Singamaneni, Pranav Goyal +2Robotic Data Collection Social Robot Navigation
Department of Robotics, University of Michigan, Ann Arbor, USA · LAAS-CNRS, University of Toulouse, Toulouse, FR · INRIA, University of Lorraine, Nancy, FR
GA3T: A Ground-Aerial Terrain Traversability Dataset for Heterogeneous Robot Teams in Unstructured Environments
May 7, 2026Siwei Cai, Knut Peterson, Quan Tran +7Multi-Robot Systems Robotic Data Collection
Drexel University, Philadelphia, USA
BifrostUMI: Bridging Robot-Free Demonstrations and Humanoid Whole-Body Manipulation
May 5, 2026Hongwu Wang, Chenhao Yu, Youhao Hu +3Robotic Data Collection Humanoid Robot Control
Beijing Academy of Artificial Intelligence

Jun 25, 2026, cs.ROJ/K move · Enter open · S save

Scalable Behavior Cloning with Open Data, Training, and Evaluation

Arthur Allshire, Himanshu Gaurav Singh, Ritvik Singh, Adam Rashid+14

UC Berkeley · MIT · XDOF+2

Robot Policy Learning Diffusion Transformer Robotic Data Collection Vision-Language-Action Models Behavior Cloning

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We introduce ABC, a fully open-source stack for manipulation with behavior cloning. At its core is ABC-130K: the largest open-source teleoperation dataset to date, featuring 3,500 hours of data spanning over 130K episodes across 195 diverse tasks. Furthermore, we open-source our accessible hardware setup, training infrastructure, and simulation pipeline. We also release 400 hours of sim-teleop data and provide a co-training recipe that produces correlated simulation and real-world evaluation, offering a reliable proxy for ablating model-design and training decisions before costly real-world evaluation. We explore various training recipes and compare common architectural choices for Diffusion Transformers (DiT) and Vision-Language-Action (VLA) models, grounding our findings in real-world evaluations. The resulting policies successfully execute dexterous tasks such as box folding and extracting credit cards from wallets. By providing a reproducible toolkit, we aim to place researchers on an equal footing, establishing the necessary foundation to learn the ABCs of Behavior Cloning together as a community.

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Latest papers 113