BlablaOcc-by-nc-4.0
SixthSense Real-Robot Contact Dataset
Real-world proprioceptive recordings and paired camera videos for studying whole-body contact sensing across standing, walking, and lying scenarios on a Unitree G1 humanoid robot.
Downloads28
Episodes372
Hours0.36
Why This Matters for Physical AI
This dataset provides proprioception-only whole-body contact sensing data critical for training humanoid robots to estimate forces and moments without external force sensors, advancing task-agnostic perception for physical interaction.
Technical Profile
- Modalities
- proprioceptionrgbimuforce_torque
- Robot Embodiments
- Unitree G1humanoid
- Environment
- lab
- Task Types
- contact_sensingstandingwalkinglying
- Episodes
- 372
- Total Hours
- 0.36
- Data Format
- HDF5
- Annotation Types
- contact_link_labelsforce_referenceevent_timestamps
- License
- cc-by-nc-4.0
Access
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