jzpengMIT
Stanford KUKA Multimodal Dataset (TsFile)
A LeRobot KUKA contact-rich peg-insertion dataset converted to Apache TsFile format, containing time-series and tabular robot data with 3,000 episodes of manipulation tasks.
Downloads0
Episodes3,000
Why This Matters for Physical AI
This dataset provides contact-rich manipulation data essential for training robots to perform precise assembly tasks like peg insertion, combining vision and tactile sensing modalities.
Technical Profile
- Modalities
- rgbproprioceptiontactile
- Robot Embodiments
- KUKA
- Action Space
- joint_positions
- Environment
- lab
- Task Types
- manipulationpeg_insertion
- Episodes
- 3,000
- Data Format
- TsFile
- Annotation Types
- reward_labelsaction_labels
- License
- MIT
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