dexsuite/stack_franka_franka_umi_tacticle_scripted
This dataset was created using LeRobot. Dataset Description Scripted-expert DexSuite data for stack with the Franka arm and the UMI tactile parallel gripper: 200 successful episodes from the waypoint planner with randomized object initialization, including dense fingertip tactile readings (Flexitac simulation). The wrist camera looks at the flat face of the fingers (2026-09-16 mount). All episodes are successful, recorded at 20 Hz with a static front camera and a wrist… See the full description on the dataset page: https://huggingface.co/datasets/dexsuite/stack_franka_franka_umi_tacticle_scripted.
This dataset was created using LeRobot.
<a class="flex" href="https://huggingface.co/spaces/lerobot/visualizedataset?path=dexsuite/stackfrankafrankaumitacticlescripted"> <img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/> <img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/> </a>
Dataset Description
Scripted-expert DexSuite data for stack with the Franka arm and the UMI tactile parallel gripper: 200 successful episodes from the waypoint planner with randomized object initialization, including dense fingertip tactile readings (Flexitac simulation). The wrist camera looks at the flat face of the fingers (2026-09-16 mount). All episodes are successful, recorded at 20 Hz with a static front camera and a wrist camera (224x224 RGB video), proprioception and ground-truth object state, under DexSuite's shared observation/action interface (actions are OSC pose offsets from the episode-start end-effector pose plus gripper/hand joint targets). As in every DexSuite set, frame t stores the observation before action t; the success flag on the last frame refers to the transition it triggers, so the terminal state itself is not stored.
- Homepage: https://huggingface.co/dexsuite
- Paper: DexSuite (RA-L 2026 submission)
- License: apache-2.0
Dataset Structure
meta/info.json:
{
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}Citation
BibTeX:
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