CLARU
sk1700apache-2.0

UR5e Dual RealSense Haptic Teleoperation Dataset (LeRobot v2.1)

A haptic teleoperation dataset for UR5e robotic arm with dual RealSense cameras, sampled at 30 Hz with absolute joint position actions. Data is collected via RTDE control loop (~500 Hz) with temporally-aligned camera frames from wrist and front perspectives.

Downloads138

Why This Matters for Physical AI

This dataset provides high-frequency, temporally-aligned multimodal observations and absolute joint actions for training imitation learning and teleoperation policies on industrial robotic arms with haptic feedback.

Technical Profile

Modalities
rgbdepthproprioceptionforce_torque
Robot Embodiments
UR5e
Action Space
joint_positions
Environment
lab
Task Types
manipulationteleoperation
Data Format
LeRobot
License
apache-2.0
Part of the LeRobot family

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