ego-steer2026apache-2.0
EgoSteer Real-World Bimanual Teleoperation Dataset
A real-robot dataset of 54,454 teleoperated episodes (192 hours, 20.75M frames) of bimanual dexterous manipulation across 193 tasks on a RealMan dual-arm robot with two Ruiyan dexterous hands and two RGB-D cameras, including free-form English language instructions for every episode.
Downloads224
Episodes1920
Hours7.1282
Technical Profile
- Modalities
- rgbdepthproprioceptionlanguage
- Robot Embodiments
- RealMan RM75-6FRuiyan RY-H2
- Action Space
- 74-DoF: arm1_joint_link1, arm1_joint_link2, arm1_joint_link3, arm1_joint_link4, arm1_joint_link5, arm1_joint_link6, arm1_joint_link7, arm2_joint_link1, arm2_joint_link2, arm2_joint_link3, arm2_joint_link4, arm2_joint_link5
- Environment
- lab
- Task Types
- manipulationpick_and_placegraspingpushingpullingreorientationbimanual_manipulationcontact_rich_manipulation
- Episodes
- 1920
- Total Hours
- 7.1282
- Data Format
- LeRobot
- License
- apache-2.0
Access
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