EgoSteer RealWorld
Description
EgoSteer RealWorld contains 54,454 teleoperated episodes, 20,750,677 frames, and approximately 192 hours of bimanual dexterous manipulation across 193 tasks on a RealMan dual-arm robot with Ruiyan hands. The LeRobot v3 release aligns head and chest RGB-D at 30 Hz with 74-dimensional state and action vectors, camera calibration, and English language instructions. Its 56 common and 137 long-tail tasks cover seven manipulation categories; 54,261 episodes are assigned to training and one episode per task to validation. Instructions are model-generated and reviewed for consistency with the demonstrations.
License
Apache-2.0.*
* Double-check the publisher's current license and usage terms before using this dataset.