Hannibal52Barcaapache-2.0

ICL Dataset Fixed Obs

Name: ICL Dataset Fixed Obs
Creator: Hannibal52Barca
License: https://www.apache.org/licenses/LICENSE-2.0
Keywords: proprioception, end_effector_pose, manipulation

Derived dataset from ICL Dataset that adds forward-kinematics-computed Cartesian end-effector poses for bimanual robot arms, with fixes for quaternion hemisphere continuity and anchor corrections.

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Why This Matters for Physical AI

This dataset enables bimanual imitation learning research by providing continuous, corrected end-effector pose observations derived from joint encoders through kinematic models.

Technical Profile

Modalities: proprioceptionend_effector_pose
Robot Embodiments: bimanual_manipulator
Task Types: manipulation
Data Format: LeRobot
Annotation Types: end_effector_posejoint_configuration
License: apache-2.0

Part of the ICL Dataset family

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