CLARU
DaivdYuan2026other

Peg in Hole (exUMI)

A dataset of 256 demonstrations of peg-in-hole manipulation tasks converted to LeRobot v3 format, combining RGB images and tactile sensing data.

Downloads37
Episodes256
Hours0.835

Technical Profile

Modalities
rgbtactileproprioception
Robot Embodiments
generic_robot
Action Space
7-DoF: action_0, action_1, action_2, action_3, action_4, action_5, action_6
Environment
lab
Task Types
manipulationpeg_in_hole
Episodes
256
Total Hours
0.835
Data Format
LeRobot
License
other
Part of the Peg in Hole (exUMI) family

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