CLARU
Hannibal52Barcaapache-2.0

ICL Dataset Fixed Action

A derived bimanual teleoperation dataset with joint-space action reconstructions from cartesian end-effector targets using inverse kinematics, based on the ICL Dataset in LeRobot v2.1 format.

Downloads44

Why This Matters for Physical AI

This dataset provides high-quality joint-space action supervision for bimanual manipulation learning, enabling training of imitation learning policies that can overcome real-world calibration offsets through per-episode IK anchoring.

Technical Profile

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

Access

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