CLARU
Hannibal52Barca2026apache-2.0

ICL Dataset Fixed Action

A derived dataset from the ICL Dataset featuring bimanual teleoperation trajectories with added joint-space action reconstruction via inverse kinematics and per-episode target anchoring for improved imitation learning.

Downloads44
Episodes3149
Hours22.0914

Why This Matters for Physical AI

This dataset enables improved imitation learning for bimanual manipulation by providing cleaned, inverse-kinematics-reconstructed joint-space actions that correct for systematic tool calibration offsets, reducing joint limit violations and improving policy convergence.

Technical Profile

Modalities
proprioceptionlanguage
Robot Embodiments
bimanual_manipulator
Action Space
joint_positions
Environment
lab
Task Types
manipulationteleoperation
Episodes
3149
Total Hours
22.0914
Data Format
LeRobot
Annotation Types
action_labelsreward_labels
License
apache-2.0
Part of the ICL Dataset family

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