Source: UMI-style VR-teleop data (kimyg119/umi_test_v0, 46 eps / 14,906 frames)
State/Action representation: 14-dim joint positions (arm_l_joint1..7, arm_r_joint1..7). UMI-sourced joints were obtained by damped-least-squares IK on rcv_worker.urdf with lift_joint=-0.15 (max FK round-trip error 1.0 mm / 0.35 deg).
Cameras: head, wrist_left_cur, wrist_left_post… See the full description on the dataset page:
https://huggingface.co/datasets/kimyg119/aw_umi_joint_hcp.
