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RH20T
Multi-modal contact-rich skills
SJTU MVIG
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Over 110,000 contact-rich robot sequences plus paired human demonstrations, spanning 147 tasks on 7 robot/gripper configurations. Every clip carries force-torque, tactile and audio alongside multi-view RGB-D — the richest sensor stack of any public manipulation set.
Reported structure
Values below come from the dataset's own documentation. Missing fields are shown as not provided rather than estimated.
10 cameras
7 DoF
10 Hz
Not provided
Data modalities
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