SingleBicycle/rss-dual-arm-tactile

RSS dual-arm tactile manipulation

This repository holds data for the RSS project. It contains teleoperated demonstrations, and later policy rollouts, recorded on this rig:

• two UFACTORY xArm6 arms, each with a BrainCo Revo2 hand;
• a Tujian tactile glove worn on each robot hand;
• a static head camera and one camera on each wrist.

All new dual-arm data for this project is uploaded here.

Contents

Folder	What	Notes
task4_dual_arm_tube_pour_20261005/	50 successful dual-arm tube-pour teleoperation trajectories, recorded 2026-10-05	Byte-identical copy of the release in SingleBicycle/tacwam-wetlab-tasks, revision 5bfdc365. Its own README is the data card. Its download examples still name the original repo id.
task4_dual_arm_tube_pour_fail_cases_20261005/	Two failed tube-pour teleoperation trials from the same day: videos (head + both wrists), stills and a README describing each failure
task4_dual_arm_tube_pour_20261022/	50 more successful dual-arm tube-pour teleoperation trajectories (batch 2), recorded 2026-10-21 and 2026-10-22 with the mesh-based two-arm collision guard	Identical to the folder of the same name in SingleBicycle/tacwam-wetlab-tasks. Its own README is the data card. All 50 are train.
task4_dual_arm_tube_pour_20261022_failures/	7 failed or aborted batch-2 tube-pour attempts with complete recordings, in the same package format	Not for training. Its README gives the label and reason for each.
task4_pi05_rl_rollouts_20261030/	82 real-robot episodes of the RL package: 22 π0.5 base-policy episodes (the 20 formal base episodes of 2026-10-30/31 plus 2 acceptance-test episodes), the 39 episodes of RL stage 1 (DSRL-SAC noise-space RL, two learner groups label and label_ours, 10 training + 10 evaluation each; one evaluation slot not run) plus one voided attempt, 20 Diffusion Policy base-policy episodes (dp_base/, 2026-11-01) and the first training episode of the π0.5 DSRL-NA stage (pi05_s1_dsrl_na_partial/): three-camera videos, per-decision records, Revo2 and glove tactile, Ours scorer outputs, the learner groups' logs and checkpoints, the stage report, the acceptance-test reports and the reward analysis	π0.5 base policy 13/20; DP base policy 13/20 (3 of its 7 failures are collision-guard aborts). RL stage 1 on π0.5 (DSRL-SAC, one round): label 4/10 training → 5/10 evaluation; label_ours 5/10 training → 5/9 evaluation. No measurable difference between the two groups or against the base policy. Its README has the episode tables and the conclusion.
task4_dp_rl_rollouts_20261103/	120 real-robot episodes of the RL package 11-02b with the Diffusion Policy base policy (2026-11-02/03): 20 base episodes, the label_ours_dense group (dense reward = TouchScale scorer progress R + 200 on success; 20 training + 20 evaluation), 20 base-policy evaluation episodes on the same placements, and the label group (binary human label; 20 training + 20 evaluation), plus 2 voided attempts: three-camera videos, per-decision records, Revo2 and glove tactile, Ours scorer outputs, both groups' experience pools, logs and last checkpoints, the two stage reports, the analysis and a README with the conclusions	Evaluation on the same 20 placements: ours 13/20, label 11/20, base 10/20 (paired McNemar p = 0.51 / 1.0 / 0.73: ours > label > base in direction, not significant at n = 20). Training: ours 17/20, label 15/20. Two ours evaluation episodes ran under another user's CPU load (listed).

Tasks

Task	Status
Tube pour: the right hand pours a 50 mL tube into a funnel tube held by the left hand	100 done (batch 1 + batch 2)
RL on the tube pour: a frozen base policy (π0.5 on 10-30/31, Diffusion Policy on 11-01…03) + noise-space RL (DSRL-SAC), reward = operator label, binary or shaped by the TouchScale scorer	π0.5 round (10-31): label 5/10 vs label_ours 5/9 evaluation, no difference. DP round (11-02/03, 120 episodes): evaluation on the same 20 placements ours 13/20, label 11/20, base 10/20 — ours > label > base in direction, not significant at n = 20; training ours 17/20, label 15/20. Both rounds uploaded.
Pipette: one hand holds a tube, the other transfers liquid with a manual pipette (Finnpipette)	planned
Cap: twist a cap off a bottle held by the other hand, and back on	planned
Hold and wipe: one hand holds a beaker, the other wipes a mark off its wall	planned
Cloth folding, using the task definition of the EgoScale project	planned