zzzqzzz2026
Tachin 双臂 ZYHand 视觉触觉派生数据集（约束 IK v4）
A bimanual manipulation dataset derived from human first-person demonstrations, converted to dual-arm and ZYHand hand kinematics trajectories with synchronized RGB video, transferred tactile data, quality masks, and manual annotations.
Downloads322
Episodes1006
Hours4.0135
Technical Profile
- Modalities
- rgbtactileproprioception
- Robot Embodiments
- dual-arm manipulator with ZYHand
- Action Space
- 26-DoF: left_joint1, left_joint2, left_joint3, left_joint4, left_joint5, left_joint6, left_joint7, left_act_push_0_j, left_act_push_1_j, left_act_push_2_j, left_act_push_3_j, left_thumb_grasp_act_push_j
- Environment
- lab
- Task Types
- bimanual_manipulation
- Episodes
- 1006
- Total Hours
- 4.0135
- Data Format
- LeRobot v3.0
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