XTac-UMI-G1 Samples
Collection
XTac-UMI-G1 full-data customer sample datasets with head pose and stereo video streams. • 10 items • Updated • 1
10 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.
Explore this dataset with the LeRobot Dataset Viewer.
Dataset Structure
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}
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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