CLARU
Donghyun1228apache-2.0

LIBERO-XE UR5e dense-contact probing

A dataset of 40 robotic manipulation tasks across 4 suites with 41 physical episodes and 576,095 frames, featuring dense-contact probing using scripted exploration rays on a UR5e robot arm. The dataset includes 535,872 valid temporal inverse dynamics model (H10) windows for learning manipulation dynamics.

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Technical Profile

Modalities
rgbproprioceptionstate
Robot Embodiments
UR5e
Environment
simulation
Task Types
manipulationgraspingpick_and_place
Data Format
LeRobot
License
apache-2.0
Part of the LIBERO-XE UR5e dense-contact probing family

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