OpenViTac: Learning and Benchmarking Visuo-Tactile Policies in a Unified Sim-and-Real Framework
Paper • 2610.10384 • Published
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actor dict | atom dict | embodiment dict | observation dict | phase dict | step int64 | tactile dict |
|---|---|---|---|---|---|---|
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End of preview.
OpenViTac Benchmark Dataset
OpenViTac is a visuo-tactile robot manipulation benchmark covering physical-property perception, fragile-object handling, contact-rich manipulation, and precise insertion. This release contains 1,300 simulated trajectories in HDF5 format across 11 tasks.
For the benchmark and data-collection details, see the paper and code repository.
Simulation tasks
Each task is stored under Simulation/GelSight_mini/<task>/. Some tasks have subdirectories for object properties or variants.
| Capability | Task directory | Task summary | Trajectories |
|---|---|---|---|
| Physical-property perception | weight_classify |
Identify whether a block is light or heavy through interaction and place it on the matching target. | 100 |
| Physical-property perception | hardness_classify |
Identify whether a block is soft or hard through contact and place it on the matching target. | 100 |
| Physical-property perception | roughness_classify |
Identify whether a block is smooth or rough through contact and place it on the matching target. | 100 |
| Physical-property perception | roughness_guided_regrasp |
Use surface roughness to decide whether to keep the grasped block or regrasp another one. | 100 |
| Physical-property perception | empty_can_selection |
Distinguish an empty can from visually similar cans through interaction and place it in a basket. | 100 |
| Fragility-aware manipulation | grasp_chip |
Grasp and move a fragile chip without damaging it. | 100 |
| Contact-rich manipulation | gear_assembly |
Mount and rotate a gear while maintaining engagement with a paired gear. | 100 |
| Contact-rich manipulation | pull_drawer |
Maintain a stable grasp on the handle while opening a drawer. | 100 |
| Precision manipulation | insert_USB |
Align a USB connector with its slot and insert it. | 100 |
| Precision manipulation | insert_block_v1 |
Align and insert a designated block into the matching opening. | 100 |
| Precision manipulation | insert_block_v2 |
Select the instructed object, then insert it into the matching opening. | 300 |
Real-world tasks
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