CLARU
armteamapache-2.0

Crab Manipulation Dataset

Teleoperated demonstration dataset for contact-rich manipulation on the Crab bimanual mobile manipulator with dual SO-101 arms, collected at 15 Hz with 3 RGB cameras and dual 10×10 tactile force sensor matrices.

Downloads252
Episodes34

Why This Matters for Physical AI

This dataset advances tactile-informed manipulation by providing contact-rich demonstrations with force sensor data, enabling training of bimanual dexterous manipulation policies that can sense and respond to physical interactions.

Technical Profile

Modalities
rgbproprioceptiontactile
Robot Embodiments
Crab bimanual mobile manipulator
Action Space
joint_positions
Environment
lab
Task Types
manipulationpick_and_place
Episodes
34
Data Format
parquet
Annotation Types
reward_labels
License
apache-2.0
Part of the Crab Manipulation Dataset family

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