Devon018other
Tilted Insertion Tactile v5 + 3D-AGOS (pcsim4)
A behaviour-cloning dataset for peg-in-hole insertion tasks containing 5,874 tactile demonstrations across 49 assets with precomputed 3D-AGOS point-cloud sidecars.
Downloads24
Episodes5874
Why This Matters for Physical AI
This dataset provides high-quality tactile and multi-modal sensor data for training robust manipulation policies on contact-rich peg-in-hole insertion tasks, a fundamental benchmark for physical AI and dexterous manipulation.
Technical Profile
- Modalities
- rgbdepthtactileforce_torqueproprioceptionpoint_cloud
- Action Space
- end_effector_delta
- Environment
- simulation
- Task Types
- peg_in_holeinsertionmanipulation
- Episodes
- 5874
- Data Format
- HDF5
- Annotation Types
- action_labels
- License
- other
Access
Need custom rgb data?
Claru builds purpose-built datasets for simulation applications with dense human annotations and quality assurance.
Request a Sample Pack