arxivcs.RO2026-06-30
RoboTacDex: A Dexterous Visual-Tactile-Action Dataset for Humanoid Manipulation
Xinyi Wang, Donghan Li, Zi'Ang Chen, Chong Yu, Chen Xin, Peng Ye, et al.
In the field of robot learning, large-scale and diverse demonstration trajectories provide the fundamental basis for enhancing robotic manipulation ability. We introduce RoboTacDex, a large, multi-modal, and diverse dataset of dexterous manipulation behaviors performed with a hum…