Datasets/Collaborative Single-Arm Tasks

Collaborative Single-Arm Tasks

300 hours of single-arm collaborative robot data for precision assembly and manipulation. Features force feedback for contact-rich tasks and fine motor control.

RGBForcecommercial
Dataset Size
150GB
Episodes1,800
Total Frames108,000
Cameras2
Data Size150GB
FormatLeRobot, HDF5, MCAP

What's Included

1,800 episodes of precision assembly tasks
108,000 synchronized frames from 2 cameras
6-axis force/torque sensor data (100Hz)
Single-arm manipulation trajectories
Contact-rich interaction sequences
End-effector 6D poses with force measurements
Assembly task annotations and quality labels
Multi-format data loaders included

Use Cases

Precision Assembly
Learn fine motor control for manufacturing
Force-Aware Manipulation
Train policies with tactile feedback
Laboratory Automation
Automate scientific equipment handling
Quality Inspection
Develop models for part inspection tasks
Contact-Rich Tasks
Master insertion, threading, and fastening
Collaborative Robotics
Deploy in human-robot collaboration scenarios

Why trust this dataset?

Provenance, QA, and compliance details for the dataset above — what was captured, by whom, on what hardware, under what license, and what we explicitly do not claim.

Collection hardware
2-camera rig at 20 Hz, 640x480 per camera. 7-DOF collaborative-single-arm platform with 6-D end-effector pose tracking.
Operators
Trained SignIQ teleop operators (multi-operator capture per dataset). Sub-20ms teleop latency with haptic feedback.
Environment
3 scenarios: laboratory, assembly, inspection.
Annotation policy
Operator-written task instructions, hindsight VLM captions, reviewed subtask spans. Outcome (success/failure) labeled per episode.
QA checks
12-check automated pipeline before delivery: schema validity, timestamp monotonicity, sync drift (<5 ms), no NaN/Inf, joint-limit compliance, calibration provenance, language presence, outcome label, format export, and more.
Sensor coverage
RGB + force/torque; JPEG for images.
License
commercial delivery. Custom commercial terms available for redistribution, fine-tuning, and on-prem caching.
Privacy & consent
Operators are SignIQ staff under explicit recording consent. Faces in any incidental human capture are blurred; PII is reviewed before release.
Format validation
LeRobot, HDF5, MCAP. Each export passes a per-format validator (LeRobot info.json, GR00T modality.json, HDF5 schema, MCAP channel coverage) before bundling.
Known limitations
Single facility / lighting profile per dataset. No depth or tactile streams unless explicitly listed. Episode count and scenario coverage are advertised, not extrapolated &mdash; if you need broader coverage, ask about a custom run.