This repository contains the datasets used for the project UMI-Gripper-Grasping, which investigates contact-aware grasp regulation for deformable object manipulation using GelSight tactile sensing, force/torque sensing, and leader–follower teleoperation.
The repository contains two sub-datasets:
Force-State Training Data – labeled tactile and force recordings used to train the three-class XGBoost force-state classifier.
LeRobot-UMI-Integration –… See the full description on the dataset page:
https://huggingface.co/datasets/yuezh23/UMI-Gripper-Grasping.
