Dataset Overview
Definition：Touch/force control fine operating data SetIt is a tactile and power-controlled data set for fine operating scenarios, covering tasks such as extraction, rotation, capture of fragilable and deformable objects, simultaneous recording of GelSight tactile images, six-dimensional rectangles, high frequency joint control and binary view videos, designed for the purpose of force-mix control strategies.
| Dataset Name | Touch/force control fine operating data Set |
| Total Data Volume | 8,000+episodes fine operation track |
| Sensory mode | GelSight tactile image sequence, area of transformation and exposure |
| It's a power sensor. | 6D/Range wrist + HFC sample |
| Visual Modality | Bi-eye video (macro + microview), 1920 x 1080 |
| TasksCoverage | Plug-in, rotation, fragilable grab, shape-distorting object operations |
| Scope of Application | Power-Mixed Control, Soft-Soft-Soft-Set, fine-capturing strategy research |
Core Data Fields
episode_id- Operational track identification and task typetactile_img— GelSight tactile image sequencewrench6d- Six-dimensional/power-corrected time series on wrist.joint_torque- High frequency joint power rectangular samplingstereo_video- Bi-eye video (macro + micro)success_label- Job success and slide/break event tag
Annotation and Quality Inspection
- Touch and power time synchronized, error control within sampling cycle
- Slide, break, etc. event labels reviewed by professional label team by paragraph
- Multimodular alignment check: Time stamping of the three-channel touch/force/vision
- Full completeness and readability verification before delivery
Applicable Scenarios and Delivery
| Apply scene | Force-Mixed Control Strategy Learning, Soft-Soft-Soft-Soft-Soft-Standing and Plug-in, Fragile/Tervable Object Capture, Sensible Algorithms |
| Delivery Format | Multimodular Datapack (Touch + Power + Bi-Daith Video)+ Event Tag + JSON metadata |
| Delivery Cycle | 4-6 Weeks |
| License Type | Commercial Use License + Data De-identification + Complete Authorization Documents |
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