---
license: cc-by-4.0
task_categories:
- robotics
language:
- en
tags:
- robotics
- robot-learning
- imitation-learning
- robot-manipulation
- demonstrations
- ur5e
- vision-language-action
pretty_name: 'RoboAI UR5e: Real-World Robotic Demonstrations'
size_categories:
- n<1K
---

# RoboAI UR5e Dataset

443 real-world UR5e manipulation demonstrations (57,742 frames, 4 Hz) with RGB observations, robot states, actions, and natural-language instructions. Original dataset in Open-X Embodiment / RLDS TFRecord format.

**LeRobot v3 version:** [Rouhis/RoboAI_UR5e_LeRobot](https://huggingface.co/datasets/Rouhis/RoboAI_UR5e_LeRobot)  
**Project website:** [RoboAI UR5e](https://sites.google.com/view/roboai-ur5e/home)

## Citation

If you use either dataset version in your research, please cite:

```bibtex
@misc{RoboAIUR5e2025,
  title        = {RoboAI UR5e Training Dataset},
  author       = {Rouhiainen, Joonas},
  institution  = {RoboAI Research Center, Satakunta University of Applied Sciences},
  year         = {2025},
  publisher    = {Hugging Face},
  doi          = {10.57967/hf/11426},
  url          = {https://doi.org/10.57967/hf/11426}
}
```