CLARU
Rimbotcc-by-sa-4.0

PalmDex: An Embodiment-Agnostic Tactile Manipulation Dataset

A multimodal robotic manipulation dataset featuring synchronized dual-camera video, dual-hand tactile sensing, and hand pose tracking across diverse real-world environments collected via human teleoperation. Demonstrations are embodiment-agnostic and annotated at the action-segment level with rich categorical labels.

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Technical Profile

Modalities
rgbtactileproprioception
Robot Embodiments
human_hand
Environment
labkitchenworkshopofficewarehouse
Task Types
manipulationgraspingdexterous_manipulationpick_and_place
Data Format
LeRobot
License
cc-by-sa-4.0
Part of the PalmDex: An Embodiment-Agnostic Tactile Manipulation Dataset family

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