# Data sources

**REASSEMBLE:** [instrumented robot assembly data](https://researchdata.tuwien.ac.at/records/0ewrv-8cb44), CC BY 4.0. The runnable package includes derived labels for 40 development recordings. The prepared-video download contains their original wrist-camera videos and frame timestamps under the source data terms. Published scores use a separate set of 83 recordings.

Daniel Sliwowski, Shail Jadav, Sergej Stanovcic, Jedrzej Orbik, Johannes Heidersberger and Dongheui Lee. *Demonstrating REASSEMBLE: A Multimodal Dataset for Contact-rich Robotic Assembly and Disassembly*. Robotics: Science and Systems, 2025. [DOI](https://doi.org/10.48436/0ewrv-8cb44).

**RH20T:** [RH20T project](https://rh20t.github.io/), with source-specific terms. Scenes 0001–0005 are CC BY-SA 4.0; non-commercial and license-silent sources are excluded from downloadable data. The timing results cover cfg2, cfg6 and cfg7. This public development package includes no RH20T episode media or reference arrays.

V-JEPA2 and DINOv2 retain their original model names. Gemini is identified by its evaluated version. Third-party model weights are not included.

Benchmark code uses Apache 2.0. REASSEMBLE-derived labels, recording manifests and videos use CC BY 4.0. Haptera's model, training and label-generation implementation remain private.