TacVerse/xtac-umi-g1-insert-rubber-stopper
Representative frames from TacVerse's bimanual demonstrations. Collected with XTac-UMI-G1 grippers, released as LeRobot datasets. This dataset was created using LeRobot. Explore this dataset with the LeRobot Dataset Viewer. Dataset Structure meta/info.json: { "codebase_version": "v3.0", "robot_type": "xtac_umi_g1", "total_episodes": 10, "total_frames": 6204, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 100… See the full description on the dataset page: https://huggingface.co/datasets/TacVerse/xtac-umi-g1-insert-rubber-stopper.
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<img src="assets/footer.png" width="100%" alt="Xense Robotics"/>
<p align="center"><em>Representative frames from TacVerse's bimanual demonstrations.</em></p>
<img src="assets/teaser.png" width="100%" alt="TacVerse collection and processing pipeline"/>
<p align="center"><em>Collected with XTac-UMI-G1 grippers, released as LeRobot datasets.</em></p>
This dataset was created using LeRobot.
Explore this dataset with the LeRobot Dataset Viewer.
Dataset Description
- Homepage: TacVerse/TacVerse
- Paper: [More Information Needed]
- License: cc-by-sa-4.0
Dataset Structure
meta/info.json:
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"observation.images.left_wrist": {
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}
}Sensor key map
<p align="center"> <img src="assets/sensorkeymap.png" width="760" alt="Sensor key map — each image stream keyed to its physical mount"/> </p>
<p align="center"><em>Tactile keys map to fingertip sensors; wrist keys to gripper cameras; head keys to the headset's stereo eyes.</em></p>
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}
}