| --- |
| pretty_name: RevoTac OXT — Ten Simulated Tactile Manipulation Episodes |
| language: |
| - en |
| tags: |
| - robotics |
| - tactile |
| - simulation |
| - zarr |
| - open-x-tactile |
| size_categories: |
| - n<1K |
| --- |
| |
| # RevoTac OXT |
|
|
| Ten scripted **simulated** tactile manipulation episodes, one per task, from RevoBench / RevoSim. Contributing institutions: **HKUST(GZ), BrainCo, Georgia Tech**. Contact: Lixin Xu, davidxulixin@gmail.com. |
|
|
| Project: https://braincotech.github.io/RevoSim-web/ |
| Code: https://github.com/BrainCoTech/RevoBench |
| Format and contribution requirements: **[Open-X-Tactile](https://open-x-tactile.github.io/)** and [OXT-QC](https://github.com/nolann030628/OXT-QC). |
|
|
| This release follows section 4.1 of the OXT submission guide: the single dataset directory `RevoTac-OXT/` contains all ten `<task>.zarr.zip` archives. No task archive or unpacked Zarr is stored at the repository root. Uploading this repository does not mean that OXT organizers have accepted the dataset. |
|
|
| ## File layout |
|
|
| ```text |
| BrainCoTech/RevoTac-OXT |
| ├── RevoTac-OXT/ |
| │ ├── cup_hang.zarr.zip |
| │ ├── hammer.zarr.zip |
| │ ├── insert_peg.zarr.zip |
| │ ├── insert_pipette.zarr.zip |
| │ ├── kitchen.zarr.zip |
| │ ├── plug_charger.zarr.zip |
| │ ├── pour_can.zarr.zip |
| │ ├── power_drill.zarr.zip |
| │ ├── rotate_knob.zarr.zip |
| │ └── tray_carry.zarr.zip |
| ├── README.md |
| ├── metadata.json |
| ├── manifest.json |
| ├── citation.bib |
| └── qc/ |
| ``` |
|
|
| The repository, dataset directory and current `metadata.name` all use `RevoTac-OXT`. Earlier audit reports retain the historical source identifier `RevoBenchSimTactile10NoIdle`. The directory update only changes repository paths and descriptive metadata; the ten archive SHA-256 hashes and all Zarr values are unchanged. |
|
|
| ## Contents |
|
|
| Version 0.1.0 contains **10 episodes, 32,272 frames at 60 Hz**. The unpacked Zarr files total **62,347,719,867 bytes (62.348 GB)**. Exact archive sizes, SHA-256 hashes and source file counts are in `manifest.json`. |
|
|
| | Task | Frames | Archive | |
| | --- | ---: | --- | |
| | cup_hang | 4178 | `RevoTac-OXT/cup_hang.zarr.zip` | |
| | hammer | 1856 | `RevoTac-OXT/hammer.zarr.zip` | |
| | insert_peg | 3406 | `RevoTac-OXT/insert_peg.zarr.zip` | |
| | insert_pipette | 2937 | `RevoTac-OXT/insert_pipette.zarr.zip` | |
| | kitchen | 5655 | `RevoTac-OXT/kitchen.zarr.zip` | |
| | plug_charger | 2671 | `RevoTac-OXT/plug_charger.zarr.zip` | |
| | pour_can | 4653 | `RevoTac-OXT/pour_can.zarr.zip` | |
| | power_drill | 2866 | `RevoTac-OXT/power_drill.zarr.zip` | |
| | rotate_knob | 2459 | `RevoTac-OXT/rotate_knob.zarr.zip` | |
| | tray_carry | 1591 | `RevoTac-OXT/tray_carry.zarr.zip` | |
|
|
| Each ZIP contains one `<task>.zarr/` directory, including `data`, auxiliary observations and `edit_provenance`. Extract all entries; do not discard auxiliary or edit-provenance arrays. ZIP64 is used. ZIP storage preserves the already-compressed Zarr chunk bytes. |
|
|
| ## Download and open |
|
|
| ```python |
| from huggingface_hub import hf_hub_download |
| from pathlib import Path |
| import hashlib |
| import json |
| import zipfile |
| import zarr |
| |
| repo = "BrainCoTech/RevoTac-OXT" |
| manifest = json.loads(Path(hf_hub_download(repo, "manifest.json", repo_type="dataset")).read_text()) |
| entry = next(x for x in manifest["archives"] if x["task"] == "cup_hang") |
| archive = Path(hf_hub_download(repo, entry["path"], repo_type="dataset")) |
| digest = hashlib.sha256() |
| with archive.open("rb") as stream: |
| for block in iter(lambda: stream.read(16 * 1024 * 1024), b""): |
| digest.update(block) |
| assert digest.hexdigest() == entry["sha256"] |
| with zipfile.ZipFile(archive) as packed: |
| packed.extractall("data") |
| episode = zarr.open_group("data/cup_hang.zarr", mode="r") |
| print(episode.tree()) |
| ``` |
|
|
| ## Signals and editing |
|
|
| The bimanual robot has 56 joint coordinates. The dataset includes measured joints and commands, four scene RGB cameras, canonical ego/wrist poses, five optical tactile pads per hand, numeric indentation depth in **meters**, marker displacement, pad-contact wrenches, and 285 pressure taxels per hand. Stiffness and damping are omitted from this OXT view. |
|
|
| Pressure is a **nonnegative normalized response**, not Pa or N. DIP optical pads and palm/MCP/PIP pressure regions have different spatial coverage. The sensor facade is target-specific. Simulated Taxim RGB marker warping is not implemented; these are not real sensor recordings. |
|
|
| Long stationary holds were removed offline, reducing 34,528 original frames to 32,272. Modalities share the same retained source-frame indices. Native retained values, sensor resolution and chunk codecs are preserved; timestamps were reindexed at 60 Hz. Original capture frame indices/times are retained in `edit_provenance`. No interpolation or physics rerun was performed. These ten development demonstrations are not a statistical task-success benchmark. |
|
|
| ## Quality checks and known limitations |
|
|
| See `qc/` for the review records. The official metadata check passed all ten dataset structures; its historical report still notes the then-missing download URL and FTP-1 `code_trigger`. This release fills `metadata.json.url`; `code_trigger` remains unassigned. The release metadata check was rerun after adding the URL: all ten dataset structures passed, with only `code_trigger` still missing (see `qc/release_metadata_check/`). |
|
|
| The official external VLM stage was attempted without dry-run but could not produce scores because no API key was available. Its reports are preserved with `missing_api_key` and null scores. A separate Codex multimodal agent review examined sampled scene/both-hand tactile evidence plus all-frame numerical checks. This does not constitute organizer approval or a completed external VLM API check. Published JSON reports replace internal source-directory prefixes with descriptive placeholders; the original private audit reports remain unchanged. |
|
|
| - **pour_can:** right pinky force reaches 416.2466 N at retained/original frame 600, an isolated peak much larger than neighboring values. The value is preserved and flagged for contact-model review. |
| - **plug_charger:** the left thumb DIP records contact in only eight frames. Source validation supports successful insertion and post-release stability, but does not establish continuous three-fingertip contact. |
| - **rotate_knob:** peak angle is about 34.16 degrees; the knob returns near zero after release. This is not a demonstration of maintaining a 35-degree final angle. |
| - Active-hand pressure is zero throughout eight tasks. Optical and pressure regions differ; these pressure channels should not be described as rich contact observations. |
| - 4D recordings use a full-duration 10 Hz inspection view with 320x240 RGB and documented nominal intrinsics/display adaptations. No scene depth was available, so point clouds were disabled. All 32,272 native pose frames were checked numerically against previously validated FK sources. The recording is sampled coordinate-review evidence, not a full native-rate task video or pixel-accurate calibration certificate. |
| |
| The kitchen task targets one potato piece and two meat pieces; carrots remaining in the pan are distractors. The drill task requires alignment above the board, not actual drilling. The pipette task ends with the grasp maintained. |
| |
| ## Citation |
| |
| See `citation.bib` for the citation supplied on the project website. No paper identifier is inferred. A separate dataset license has not been specified in this release. |
| |
