Airoa Moma: 23,762 Household Robot Teleoperation Episodes

Airoa Moma contains 23,762 episodes of household service robot teleoperation data collected by airoa-org using Toyota's Human Support Robot (HSR) platform. The dataset comprises 9,422,911 frames of primitive action household manipulation tasks recorded through human demonstrations. It was released in late 2024 to support research in robot imitation learning and household automation.

Use Cases

• Training behavior cloning models using the 23,762 teleoperation episodes
• Developing visual perception systems for household objects using the 9.4 million video frames
• Evaluating robot control policies specifically for the Toyota HSR hardware

Strengths

• 9,422,911 total video frames
• 23,762 unique teleoperation episodes
• Standardized hardware platform (Toyota HSR)

Limitations

• Restricted to primitive action tasks rather than complex multi-stage reasoning
• CC BY-NC-SA 4.0 license prohibits commercial use
• Limited to household environments

Provenance

Source

airoa-org

Collection Method

human teleoperation of Toyota Human Support Robots

Freshness

Last updated December 2024.

Geography

United States