| --- |
| license: cc-by-4.0 |
| pretty_name: DreamTac |
| size_categories: |
| - 100K<n<1M |
| tags: |
| - robotics |
| - tactile-sensing |
| - robot-manipulation |
| - multimodal |
| - zarr |
| --- |
| |
| # DreamTac |
|
|
| DreamTac is a contact-rich robot manipulation dataset collected at PKU with a |
| Franka Emika Panda, two synchronized RGB cameras, and two Xense Photon |
| vision-based tactile sensors mounted on the gripper fingertips. |
|
|
| This release follows the Open-X-Tactile submission format. |
|
|
| ## Dataset summary |
|
|
| - 12 tasks |
| - 703 successful trajectories |
| - 506,078 frames |
| - 20 FPS (approximately 7.03 hours) |
| - Third-person RGB: `camera_main_rgb`, 224 x 224 RGB |
| - Wrist RGB: `right_wrist_camera_rgb`, 224 x 224 RGB |
| - Tactile RGB: `right_tactile_data_gripper`, two 224 x 224 RGB streams |
| - End-effector pose: position in meters plus rotation vector in radians, |
| expressed in the Franka base frame |
| - Gripper: one scalar opening value; arm joint angles are not included |
|
|
| The tactile area IDs are `0` for the left fingertip and `1` for the right |
| fingertip. Files from the source `no_tactile` batch are excluded. |
|
|
| ## Files |
|
|
| Each task is distributed as one archive under `zarr_archives/` to avoid |
| placing roughly 100,000 individual Zarr chunk files in the Hub repository. |
| Extract an archive with: |
|
|
| ```bash |
| tar -xf zarr_archives/pick_bread.zarr.tar |
| ``` |
|
|
| The extracted directory is a standard Zarr v2 group. Submission metadata, |
| hardware images, conversion manifests, and Open-X-Tactile check reports are |
| under `submission/`. |
|
|
| ## Tasks |
|
|
| `clean_whiteboard`, `cut_banana`, `insert_screw`, `insert_usb`, `pick_bread`, |
| `pick_hongzhong`, `pick_place`, `pick_usb`, `push_hongzhong_pos1`, |
| `push_hongzhong_pos2`, `push_hongzhong_pos3`, and `stack_bowl`. |
|
|
| ## License |
|
|
| DreamTac is released under the Creative Commons Attribution 4.0 International |
| (CC BY 4.0) license. |
|
|
| ## References |
|
|
| - Paper: [Dream-Tac: A Unified Tactile World Action Model for Contact-Rich Robot Manipulation](https://arxiv.org/abs/2606.08737) |
| - Project repository: [LYFCLOUDFAN/Dream-Tac](https://github.com/LYFCLOUDFAN/Dream-Tac) |
|
|
| Contact: `e1373933@u.nus.edu` |
|
|
