Search is not available for this dataset
left_shoulder_image image | right_shoulder_image image | wrist_image image | state list | actions list | timestamp float32 | frame_index int64 | episode_index int64 | index int64 | task_index int64 |
|---|---|---|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
ForceSight Demos (6_3)
Teleoperated demonstration datasets in LeRobot format (v2.1) for the ForceSight manipulation project. Recorded on a Franka Panda with a parallel-jaw hand and paired vision + tactile sensing.
Companion fine-tuned pi0.5 policies: mlshehab/forcesight.
Tasks
Four manipulation tasks, teleoperated:
- balance — balance a white box on top of blue beams.
- gear — insert a gear onto a peg.
- medicine — pick up the bottle and place it in the orange bin if full, the blue bin if empty.
- plug — insert a plug into a socket.
Subsets
All three subsets cover the same four tasks (400 episodes, 101,998 frames each). They differ in observation content / labeling:
| Config | Episodes | Frames | Description |
|---|---|---|---|
tactile_6_3 |
400 | 101,998 | Full observation set incl. both tactile streams |
pi05_6_3 |
400 | 101,998 | pi0.5 baseline (vision + state, no tactile streams) |
tapvla_6_3 |
400 | 101,998 | TAP-VLA variant (vision + state, no tactile streams) — |
Format
- codebase_version: v2.1
- robot_type: panda_hand
- fps: 15
- Note: image features are stored as
image(not video-encoded), so parquet files are large. Load with the standard LeRobot dataset loader.
Observations
tactile_6_3 includes all five image streams below; pi05_6_3 and tapvla_6_3
include only the three camera streams (no *_touch_image).
| Key | Type | Shape |
|---|---|---|
left_shoulder_image |
image | 256×256×3 |
right_shoulder_image |
image | 256×256×3 |
wrist_image |
image | 256×256×3 |
left_touch_image |
image | 240×320×3 |
right_touch_image |
image | 240×320×3 |
state |
float32 | (8,) joint states |
Tactile images captured with a GelSight sensor.
Actions
actions: float32 (8,) — joint actions.
Loading
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
ds = LeRobotDataset("mlshehab/forcesight-demos", root="tactile_6_3")
print(ds[0].keys())
License
Apache-2.0.
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