Pour tea into cups

Modalities

RGB [2K] • End-Effector 6-DoF Pose

Sample rate

20Hz subsampled physical sync

Action space

7-DoF x 2 arms (x, y, z, rx, ry, rz, gripper)

Annotations

Episode Level Task • Granular Motion Annotation

Format

UMI Data Format/ Zarr

Coming Soon

Dense Subtask Annotations • Tactile Gripper Fingers