THULabapache-2.0
idm_openarm_merged_256_v2
A LeRobot dataset recorded on an OpenArm RH56F1 humanoid arm with 1156 episodes of 16 different manipulation tasks, containing joint positions, actions, and torque measurements at 20 fps.
Downloads0
Episodes1156
Why This Matters for Physical AI
This dataset provides high-frequency proprioceptive and torque feedback from a humanoid dual-arm system across diverse manipulation tasks, enabling training of controllers that learn tactile-aware manipulation strategies with real-time force feedback.
Technical Profile
- Modalities
- proprioceptionforce_torquelanguage
- Robot Embodiments
- OpenArm RH56F1
- Action Space
- joint_positions
- Task Types
- manipulation
- Episodes
- 1156
- Data Format
- tsfile
- Annotation Types
- language_instructionsreward_labels
- License
- apache-2.0
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