TacVerse · XTac-UMI-G1 Head-view
Collection
Bimanual visuo-tactile demos with XTac-UMI-G1 grippers and Pico headset stereo cameras. LeRobot v3.0 format. • 14 items • Updated • 1
235 episodes · 30 fps · 8 cameras · 640×480 h264
Representative frames from TacVerse's bimanual demonstrations.
Collected with XTac-UMI-G1 grippers, released as LeRobot datasets.
This dataset was created using LeRobot.
Access
This dataset is public. Download it and load it with LeRobot:
hf download TacVerse/xtac-umi-g1-insert-divider --repo-type dataset --local-dir ./xtac-umi-g1-insert-divider
from lerobot.datasets.lerobot_dataset import LeRobotDataset
ds = LeRobotDataset("TacVerse/xtac-umi-g1-insert-divider", root="./xtac-umi-g1-insert-divider")
Privacy
Faces of people appearing in the camera streams (wrist and head cameras) have been anonymized: they were detected automatically and pixelated before release. The tactile streams contain no people and are unchanged. Automatic detection can miss a face; if you find one that is not masked, please contact us via the TacVerse landing page and we will fix it.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "xtac_umi_g1",
"collection_stack": "xense-taccap-lerobot",
"total_episodes": 235,
"total_frames": 550820,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:235"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features": {
"action": {
"dtype": "float32",
"names": [
"left_tcp.x",
"left_tcp.y",
"left_tcp.z",
"left_tcp.r1",
"left_tcp.r2",
"left_tcp.r3",
"left_tcp.r4",
"left_tcp.r5",
"left_tcp.r6",
"left_gripper.pos",
"right_tcp.x",
"right_tcp.y",
"right_tcp.z",
"right_tcp.r1",
"right_tcp.r2",
"right_tcp.r3",
"right_tcp.r4",
"right_tcp.r5",
"right_tcp.r6",
"right_gripper.pos",
"head.x",
"head.y",
"head.z",
"head.r1",
"head.r2",
"head.r3",
"head.r4",
"head.r5",
"head.r6"
],
"shape": [
29
]
},
"observation.state": {
"dtype": "float32",
"names": [
"left_tcp.x",
"left_tcp.y",
"left_tcp.z",
"left_tcp.r1",
"left_tcp.r2",
"left_tcp.r3",
"left_tcp.r4",
"left_tcp.r5",
"left_tcp.r6",
"left_gripper.pos",
"right_tcp.x",
"right_tcp.y",
"right_tcp.z",
"right_tcp.r1",
"right_tcp.r2",
"right_tcp.r3",
"right_tcp.r4",
"right_tcp.r5",
"right_tcp.r6",
"right_gripper.pos",
"head.x",
"head.y",
"head.z",
"head.r1",
"head.r2",
"head.r3",
"head.r4",
"head.r5",
"head.r6"
],
"shape": [
29
]
},
"observation.images.left_tactile_left": {
"dtype": "video",
"shape": [
400,
700,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 400,
"video.width": 700,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.left_tactile_right": {
"dtype": "video",
"shape": [
400,
700,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 400,
"video.width": 700,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.left_wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.right_tactile_left": {
"dtype": "video",
"shape": [
400,
700,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 400,
"video.width": 700,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.right_tactile_right": {
"dtype": "video",
"shape": [
400,
700,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 400,
"video.width": 700,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.right_wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.head_left": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.head_right": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.tracker_confidence": {
"dtype": "float32",
"names": [
"left_tracker.confidence",
"right_tracker.confidence"
],
"shape": [
2
]
}
},
"tacflow_stage": "postprocess.anonymize",
"tcp_frame_convention": "mirrored-v1"
}
Sensor key map
Tactile keys map to fingertip sensors; wrist keys to gripper cameras; head keys to the headset's stereo eyes.
Citation
BibTeX:
@misc{tacverse2026,
title = {TacVerse: A Large-Scale Bimanual Visuo-Tactile Manipulation Dataset},
author = {Xense Robotics},
year = {2026},
howpublished = {\url{https://huggingface.co/datasets/TacVerse/TacVerse}},
note = {Collected with the XTac-UMI-G1 handheld gripper and Xense Neutron visuotactile sensors}
}
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