XTac-UMI-G1 Samples
Collection
XTac-UMI-G1 full-data customer sample datasets with head pose and stereo video streams. • 5 items • Updated • 1
Datasets:
Search is not available for this dataset
observation.state list | action list | observation.tracker_confidence list | timestamp float32 0 65.7 | frame_index int64 0 1.97k | episode_index int64 0 9 | index int64 0 17.6k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
Xense Robotics dataset overview: representative frames from TacVerse's bimanual visuo-tactile demonstrations.
TacVerse is collected with XTac-UMI-G1 handheld grippers, processed by TacFlow-Engine, and released as standard LeRobot datasets.
This dataset was created using LeRobot.
Explore this dataset with the LeRobot Dataset Viewer.
Dataset Structure
{
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}
}
},
"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,
"video.video_backend": "pyav",
"taccap.rectified": true,
"taccap.rectify_kind": "tactile",
"taccap.rectify_config": {
"base_grid": [
72,
211,
196,
150,
332,
84,
546,
47,
74,
267,
197,
327,
337,
394,
554,
435
],
"cols": 2,
"padding": [
0,
0,
0,
0
],
"rot": 0.0,
"rows": 4,
"scale": 1.0,
"trans_x": 0.0,
"trans_y": 0.0
}
}
},
"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,
"video.video_backend": "pyav"
}
},
"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",
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1
],
"names": null
}
}
}
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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