xarm_dishwasher_binmarker

xArm7 phone-teleop dataset for dishwasher ("pull the basket outside of the dishwasher and pick up the mug and put it into the basket") with the binmarker tactile overlay burned into the camera frames: one arrow per gripper finger (anchored at the finger center pad via forward kinematics) with fixed length AND fixed direction (the sensor-frame pad normal — a rigid "flag" on the finger), drawn iff that finger's binary contact state is ON. Ported from LIBERO_contact_overlay's binbars style, presented spatially.

The overlay carries only the per-finger contact bit — NO force magnitude and NO force direction. Pure binary-contact ablation rung between points9_arrow_len0 (positions only) and points9_arrow (full force field).

Contact detection (how the threshold was tuned)

Per-finger binary contact from the 3x3x3-axis tactile array:

• Normalization offset = median over known-idle frames (first 10 frames of each episode, post-homing, gripper open). The naive whole-dataset median is contact-polluted on tasks that spend most frames in contact (charger: 60% closed frames made idle read as a fake magnitude of ~1.2).
• Metric = max over the 9 cells of the normalized cell-vector L2 norm ("max-cell"). The cell-sum alternative cannot separate charger idle noise (p99.5 = 0.45) from real light holds (0.5 on tube/dishwasher's weaker finger). Max-cell: idle p99.5 <= 0.24 on every task, real contacts >= ~0.3.
• Hysteresis + debounce (Schmitt trigger): ON after 2 consecutive frames

  = 0.25, OFF after 3 consecutive frames < 0.18, state reset at episode boundaries. Light-but-real holds (dips to 0.23) stay latched; single-frame noise spikes never trigger.

Validated on all 400 episodes (zero idle false positives in every post-homing window) and visually verified on 5 episodes per task (timelines + frame montages at approach / contact onset / mid-hold / post-release), plus a final spot check on the converted LeRobot frames: no arrows during approach, arrows at contact onset, latched through holds, cleared within <=3 frames of release, and honest negatives (gripper closed around nothing draws nothing).

Contents

• 100 episodes / 28096 frames @ 10 Hz, LeRobot v2.1 format
• image (224x224x3, agent view) and wrist_image (224x224x3) — overlay burned in
• state (8-dim: ee_pos_m, ee_axis_angle_rad, grasp, grasp)
• actions (7-dim world-frame deltas: dxyz_m, daxis_angle_rad, grasp in {-1,+1})

Same source recordings as every other overlay variant of this task — only the burned-in pixels differ.

Paired model

EdwardoSunny/pi05_xarm_dishwasher_binmarker_lora