TacVerse/TacVerse
TacVerse is a large-scale dataset for bimanual manipulation research in which every frame carries four streams of high-resolution visuotactile sensing, two per gripper, alongside synchronized camera views. It was collected with a handheld UMI gripper pair carrying Xense Neutron visuotactile sensors across three real-world scene families: office, home, and workbench.
Hugging Face dataset
Open source ↗