AIRoA MoMa

Large-scale hierarchical mobile-manipulation dataset: 25,469 episodes (~94 hours) on the Toyota Human Support Robot with synchronized RGB, joint states, and 6-axis force-torque sensing, annotated with a two-layer sub-goal hierarchy and standardized to the widely-adopted LeRobot v2.1 format. From AIRoA (directed by Yutaka Matsuo) with the Matsuo-Iwasawa Lab (Yusuke Iwasawa co-author) and Waseda — the first public step of AIRoA's claimed ~100,000-hour robot-motion dataset and robot-FM program.