Skill-UMI

Handheld UMI-style gripper demonstrations with an Intel RealSense D455 wrist camera and two GelSight Mini visuo-tactile sensors (one per finger), contributed to Open-X-Tactile (OXT). Data accompanies the paper What to Attend, What to Keep: Skill-Conditioned Visuotactile Representation with Progress-Guided Event Memory (model: SkillFormer; project page).

Authors: Amir-Hossein Shahidzadeh, Seungjae Lee, Eadom Dessalene, Shanthosh Mageswari, Soroush Etemad, Furong Huang, Cornelia Fermüller, Yiannis Aloimonos (University of Maryland).

The zarr files follow the OXT / FTP-1 format. See the OXT website and the FTP-1 data processing guide for the full key definitions and coordinate conventions.

Sub-dataset	Episodes	Frames	Sub-task labels
bottle_cap	137	109,816	reach bottle cap, grasp bottle cap, reach bottle, align bottle cap, slide bottle cap, final twist, unlabeled
lamp_bulb	116	111,547	reach bulb, grasp bulb, reach lamp socket, align bulb, twist bulb, end
lentils_blind_search	144	100,751	reach box 1/2/3, grasp content 1/2/3, withdraw 1/2, reach puzzle box, align cube, insert cube

Each folder holds one zipped zarr (<name>.zarr.zip); unzip it to get <name>.zarr.

Keys (data/, all time-major, 30 Hz)

Key	Shape	Description
timestamps	(T,)	seconds since episode start
right_wrist_camera_rgb	(T, 224, 224, 3) uint8	wrist Intel RealSense D455 RGB
right_wrist_pose	(T, 6)	gripper pose (x, y, z, rotvec) in the SLAM world frame, OXT UMI gripper convention
right_hand_joints	(T, 1)	gripper width in meters
right_hand_joints_idx	(T, 1)	FAAS slot id, 28 (gripper)
right_tactile_data_gripper	(T, 2, 240, 320, 3) uint8	GelSight Mini images, one per finger
right_tactile_area_gripper	(T, 2)	tactile function-area ids [0, 1]
right_tactile_sensor_gripper	(T,)	GelSightMini
right_tactile_type_gripper	(T,)	image
sub_task_instruction	(T,)	sub-task label of each frame

meta/episode_ends gives the exclusive end index of each episode.