---
pretty_name: OpenViTac Benchmark Dataset
license: apache-2.0
tags:
- robotics
- visuo-tactile manipulation
---

# 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 **1,500 simulated episodes in LeRobot v2.1 format** across 11 tasks: 1,300 with GelSight mini and 100 each with Neote and Xense for `insert_USB`.

For the benchmark and data-collection details, see the [paper](https://arxiv.org/abs/2610.10384v1) and [code repository](https://github.com/FVL-Repo/OpenViTac).

## Simulation tasks

Each `Simulation/<sensor>/<task>/` directory is a separate LeRobot dataset. Its `meta/` directory contains episode metadata, `data/chunk-000/` contains one Parquet file per episode, and `videos/chunk-000/` contains the corresponding camera and tactile videos. GelSight mini data is under `Simulation/GelSight_mini/`.

| Capability | Task directory | Task summary | Episodes |
| --- | --- | --- | ---: |
| 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 |

The `insert_USB` task also includes Neote and Xense tactile sensor data, with 100 episodes each in `Simulation/Neote/insert_USB/` and `Simulation/Xense/insert_USB/`.

## Real-world tasks