---
language:
- en
license: apache-2.0
tags:
- robotics
- dataset
- lerobot
- ur5e
task_categories:
- robotics
pretty_name: UR5e Dual RealSense Teleoperation Dataset (LeRobot v2.1)
configs:
- config_name: default
  data_files:
  - data/*/*.parquet
---

# UR5e Dual RealSense Teleoperation Dataset

This dataset was recorded using a UR5e robot with two Intel RealSense RGB cameras (wrist + front)
and haptic teleoperation (Phantom Omni). It follows the **LeRobot v2.1** file layout.

- **Videos** are referenced in `meta/info.json` using SO101-like keys:
  - `observation.images.front`
  - `observation.images.Wrist`
- **Training data** is stored as per-episode Parquet files with the required schema:
  `action`, `observation.state`, `timestamp`, `frame_index`, `episode_index`, `index`, `task_index`.