Jingyi-Z/sotac_raw

This dataset was created using LeRobot.

Use the button above, which opens the LeRobotAC tactile visualizer with per-taxel 3D force arrows, contact timelines, and the raw 91 Hz stream panels. The standard LeRobot viewer does not render the tactile data.

Dataset Description

Raw (untrimmed, unannotated) SO-101 tactile pick-and-place recordings with two Paxini fingertip tactile sensors, a top camera and a wrist camera. Trimmed and annotated episodes live in the companion sotac dataset; this repo is the source and is only ever appended to, never edited.

• Homepage: [More Information Needed]
• Paper: [More Information Needed]
• License: apache-2.0

Episodes and Provenance

Episodes	Count	Frames	Tasks (task_index)	Source
0 to 76	77	42,684	red foam ball into container (0), orange rubber ball into container (1), red cup onto container (2)	original sotac_raw recordings
77 to 176	100	46,438	red foam ball into container (0), green rubber ball into container (3)	contributed batch, merged 2026-09-02 from xlabcmu/sotac_contrib_20260901

Episode numbering is stable: existing episodes keep their indices, and every new batch is appended after the last episode. Per-episode tactile raw streams are under sensors/paxini_fingertip/episode_XXXXXX/ (sensor_1.csv, sensor_2.csv, alignment.json), using the same episode index as the main table.

Acknowledgements

Episodes 77 to 176 were collected and contributed by Jingming Zhang. Thank you.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "fps": 30,
    "features": {
        "action": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
            ]
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.top": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.sensors.paxini_fingertip": {
            "dtype": "float32",
            "shape": [
                2,
                52,
                3
            ],
            "names": [
                "dim_0",
                "dim_1",
                "dim_2"
            ]
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    },
    "total_episodes": 177,
    "total_frames": 89122,
    "total_tasks": 4,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "robot_type": "so_sensor_follower",
    "splits": {
        "train": "0:177"
    }
}

Citation

BibTeX:

[More Information Needed]