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---
license: mit
task_categories:
- robotics
---
# Dataset for Universal Visual Decomposer (UVD)
## Dataset Description
*Homepage:* https://zcczhang.github.io/UVD/
*Codebase:* https://github.com/zcczhang/UVD
*Paper:* https://arxiv.org/abs/2310.08581
## Dataset Summary
This is the dataset used for the paper [Universal Visual Decomposer: Long-Horizon Manipulation Made Easy](https://arxiv.org/abs/2310.08581). We release the simulation data in FrankaKitchen and data for real-world experiments.
If you find our work useful, please consider citing us!
```bibtex
@misc{zhang2023universal,
title = {Universal Visual Decomposer: Long-Horizon Manipulation Made Easy},
author = {Zichen Zhang and Yunshuang Li and Osbert Bastani and Abhishek Gupta and Dinesh Jayaraman and Yecheng Jason Ma and Luca Weihs},
title = {Universal Visual Decomposer: Long-Horizon Manipulation Made Easy},
year = {2023},
eprint = {arXiv:2310.08581},
}
```
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