Bimanual Teleoperation Trajectories
Synchronized multi-view robot demonstrations with language instructions.
- Episodes
- 120,000+
- Task families
- 180
- Camera views
- 3
- Control rate
- 50 Hz
Illustrative rendering of annotation layers.
01Overview
Expert-teleoperated demonstrations on bimanual arms covering pick-and-place, articulated objects, deformables and tool use. Each episode pairs multi-view RGB-D with joint states, end-effector poses and a natural-language instruction, delivered in LeRobot and RLDS formats.
Modalities
- Multi-view RGB-D
- Joint states
- EE poses
- Language
Use cases
- Behavior cloning and diffusion policies
- Fine-tuning generalist robot foundation models
- Benchmarking manipulation generalization
02Specification
Hardware
- Arms
- 2 × 7-DoF arms with parallel grippers
- Cameras
- 2 wrist + 1 head RGB-D, 640 × 480 @ 30 fps
- Control
- Joint position control at 50 Hz
- Teleoperation
- Leader–follower arms with haptic feedback
Episodes
- Length
- 10–90 s, median 28 s
- Success labels
- Operator and reviewer success flags
- Instructions
- 1–3 paraphrased English instructions per episode
- Scenes
- Kitchen, workbench, retail shelf, laundry
03Schema
| Field | Type | Description |
|---|---|---|
| episode_id | string | Unique episode identifier. |
| observation.images.* | video | Head, left-wrist, right-wrist RGB. |
| observation.depth.* | uint16[H, W] | Aligned depth, millimeters. |
| observation.state | float32[T, 14] | Joint positions of both arms. |
| action | float32[T, 14] | Commanded joint positions. |
| language_instruction | string | Task instruction. |
| success | bool | Reviewer-verified task success. |
04File structure
teleop-manipulation/
├── meta/
│ ├── info.json
│ ├── tasks.jsonl
│ └── episodes.jsonl
├── data/
│ └── chunk-000/episode_000000.parquet
└── videos/
└── chunk-000/
├── observation.images.head/episode_000000.mp4
├── observation.images.wrist_left/episode_000000.mp4
└── observation.images.wrist_right/episode_000000.mp405Sample
Evaluate before you license.
- 200 episodes across 20 task families
- Calibration files
- Data card
- Size
- ≈ 2.1 GB
- Formats
- LeRobot v2, RLDS
06License
Graviti Commercial Data License
Commercial training and deployment rights. Custom terms available.
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