Dataset Overview
Definition：Tactile / Force-Controlled Fine Manipulation Dataset是面向精细操作Scenes的触觉与力控Dataset，Coverage插拔、旋转、抓取易碎与可形变物体等任务，同步记录 GelSight 触觉Image、腕部六维力矩、高频关节力控与双目近景视频，专为力位混合控制策略学习设计。
| Dataset Name | Tactile / Force-Controlled Fine Manipulation Dataset |
| Total Data Volume | 8,000+ episodes 精细操作轨迹 |
| 触觉模态 | GelSight 触觉图像序列，含形变与接触区域 |
| 力觉模态 | 腕部六维力/力矩 + 高频关节力控采样 |
| Visual Modality | 双目近景视频（宏观 + 微观视角），1920×1080 |
| 任务覆盖 | 插拔、旋转、易碎物抓取、可形变物体操作 |
| Scope of Application | 力位混合控制、柔顺装配、精细抓取策略研究 |
Core Data Fields
episode_id— 操作轨迹标识与任务类型tactile_img— GelSight 触觉图像序列wrench6d— 腕部六维力/力矩时序joint_torque— 高频关节力矩采样stereo_video— 双目近景视频（宏观 + 微观）success_label— 任务成功与滑移/破损事件标签
Annotation and Quality Inspection
- 触觉与力觉时间同步校验，误差控制在采样周期内
- 滑移、破损等事件标签由专业标注团队逐段标注复核
- 多模态对齐检查：触觉/力觉/视觉三通道时间戳一致
- 交付前全量完整性与可读性校验
Applicable Scenarios and Delivery
| Applicable Scenarios | 力位混合控制策略学习、柔顺装配与插拔任务、易碎/可形变物体抓取、触觉感知算法研究 |
| Delivery Format | 多模态数据包（触觉 + 力觉 + 双目视频）+ 事件标签 + JSON 元数据 |
| Delivery Cycle | 4-6 Weeks |
| License Type | Commercial Use License + Data De-identification + Complete Authorization Documents |
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