Dataset · Hugging Face

benudavis/cluttered_grasp

Name: cluttered_grasp
Creator: benudavis
License: apache-2.0
Keywords: task_categories:robotics, license:apache-2.0, size_categories:100K<n<1M, format:parquet, modality:tabular, modality:timeseries, modality:video, library:datasets, library:dask, library:polars, library:mlcroissant, library:lerobot, region:us, LeRobot, ur10

Cluttered Grasp (UR10 + Robotiq 2F-140 + tactile + depth) Real-robot teleop demonstrations of cluttered grasping. Episodes are gated on gripper_tcp height in base_link (record while low, pause while high), time-synced to the RealSense RGB master @ 30 Hz, then converted to LeRobot format. Robot UR10 + Robotiq 2F-140 (ur10_robotiq_2f140) FPS 30 (RGB master timeline) Episodes / frames See meta/info.json (total_episodes, total_frames) Codebase LeRobot dataset v3.0… See the full description on the dataset page: https://huggingface.co/datasets/benudavis/cluttered_grasp.

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Author / organization	benudavis
License (as declared)	apache-2.0
Downloads	376 (as reported by Hugging Face)
Likes	0
Created	31 July 2026
Last updated at source	11 September 2026

LeRobotur10robotiqtactiledepthcluttered-graspingimitation-learning

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