AXIS Franka Dataset
AXIS论文快照含207个模拟Franka任务与50,129条社区采集轨迹，官方Hugging Face当前托管约2.36TB并要求登录申请。数据通过浏览器MuJoCo-WASM遥操作、自动成功判定、轨迹平滑、质检和Isaac Sim视觉/物理增强形成；条款只允许非商用研究与教育，禁止再分发且可撤销访问。论文明确sim-to-real仍是开放问题。
- 开放状态
- 需申请
- 许可证
- Custom dataset terms: non-commercial research and education only; redistribution and commercial integration prohibited; access may be revoked
- 商业使用
- prohibited by dataset terms
- 人工评审结论
- verified_gated_50129_episode_axis_snapshot_noncommercial_no_sim_to_real
- 机器人
- simulated Franka Research 3 / Panda-class 7-DoF arm with parallel gripper
- 任务
- 207 versioned manipulation tasks at the paper snapshot
- 模态
- third-person RGB-D、wrist RGB-D、language instruction、robot state、actions、success/failure validation、task snapshot metadata
- 格式
- LeRobot v3-compatible training conversion plus AXIS task snapshots; full hosted file manifest requires access approval
- 采集/生成方式
- MuJoCo-WASM browser teleoperation with Isaac Sim augmentation
- 已知问题
- Gated 2.36TB access, non-commercial and no-redistribution terms, revocable access, training repository has no LICENSE, no released paper checkpoint, no quantified real-robot transfer and no independent reproduction.