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arXiv · 2509.25032

AIRoA MoMa Dataset: A Large-Scale Hierarchical Dataset for Mobile Manipulation

Ryosuke Takanami·Petr Khrapchenkov·Shu Morikuni·Jumpei Arima·Yuta Takaba·Shunsuke Maeda·Takuya Okubo·Genki Sano·Satoshi Sekioka·Aoi Kadoya·Motonari Kambara·Naoya Nishiura·Haruto Suzuki·Takanori Yoshimoto·Koya Sakamoto·Shinnosuke Ono·Hu Yang·Daichi Yashima·Aoi Horo·Tomohiro Motoda·Kensuke Chiyoma·Hiroshi Ito·Koki Fukuda·Akihito Goto·Kazumi Morinaga·Yuya Ikeda·Riko Kawada·Masaki Yoshikawa·Norio Kosuge·Yuki Noguchi·Kei Ota·Tatsuya Matsushima·Yusuke Iwasawa·Yutaka Matsuo·Tetsuya Ogata
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Abstract

As robots transition from controlled settings to unstructured human environments, building generalist agents that can reliably follow natural language instructions remains a central challenge. Progress in robust mobile manipulation requires large-scale multimodal datasets that capture contact-rich and long-horizon tasks, yet existing resources lack synchronized force-torque sensing, hierarchical annotations, and explicit failure cases. We address this gap with the AIRoA MoMa Dataset, a large-scale real-world multimodal dataset for mobile manipulation. It includes synchronized RGB images, joint states, six-axis wrist force-torque signals, and internal robot states, together with a novel two-layer annotation schema of sub-goals and primitive actions for hierarchical learning and error analysis. The initial dataset comprises 25,469 episodes (approx. 94 hours) collected with the Human Support Robot (HSR) and is fully standardized in the LeRobot v2.1 format. By uniquely integrating mobile manipulation, contact-rich interaction, and long-horizon structure, AIRoA MoMa provides a critical benchmark for advancing the next generation of Vision-Language-Action models. The first version of our dataset is now available at https://huggingface.co/datasets/airoa-org/airoa-moma .

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BibTeXRIS

Ryosuke Takanami, Petr Khrapchenkov, Shu Morikuni, Jumpei Arima, Yuta Takaba, Shunsuke Maeda, Takuya Okubo, Genki Sano, Satoshi Sekioka, Aoi Kadoya, Motonari Kambara, Naoya Nishiura, Haruto Suzuki, Takanori Yoshimoto, Koya Sakamoto, Shinnosuke Ono, Hu Yang, Daichi Yashima, Aoi Horo, Tomohiro Motoda, Kensuke Chiyoma, Hiroshi Ito, Koki Fukuda, Akihito Goto, Kazumi Morinaga, Yuya Ikeda, Riko Kawada, Masaki Yoshikawa, Norio Kosuge, Yuki Noguchi, Kei Ota, Tatsuya Matsushima, Yusuke Iwasawa, Yutaka Matsuo, Tetsuya Ogata. 2025-09-29. AIRoA MoMa Dataset: A Large-Scale Hierarchical Dataset for Mobile Manipulation. https://arxiv.org/abs/2509.25032

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