| --- |
| license: cc-by-4.0 |
| task_categories: |
| - robotics |
| tags: |
| - lerobot |
| - tactile |
| - manipulation |
| - project-aria |
| - egocentric |
| size_categories: |
| - n<1K |
| --- |
| |
| # FEEL-Benchmark |
|
|
| A multimodal egocentric manipulation dataset combining **Project Aria** smart-glasses recordings (RGB video, eye gaze, hand tracking, IMU) with synchronized **Paxini** tactile-glove force readings. Released in [LeRobot v3.0](https://github.com/huggingface/lerobot) format (GR00T path variant). |
|
|
| ## Overview |
|
|
| - **26 trials**, **700 episodes**, **~65.8 min** of segmented manipulation, ~2.0 GB |
| - **Recording dates**: 2026-01-10, 2026-01-21, 2026-01-28, 2026-04-30, 2026-05-06 |
| - **Camera**: Project Aria RGB (1408×1408, **10 fps**, H.264) |
| - **Tactile**: bilateral force totals (`action.tactile.left.force_total`, `action.tactile.right.force_total`) |
| - **Hand pose**: Aria MPS hand tracking (left + right, validity flags, confidence) |
| - **Gaze**: Aria MPS general eye gaze (yaw/pitch + depth) |
| - **Mean episode length**: 5.6 s (39,497 frames @ 10 fps) |
|
|
| ## Dataset statistics |
|
|
| ### By recording date |
|
|
| | Date | Trials | Episodes | Frames | Duration (min) | |
| |------------|-------:|---------:|-------:|---------------:| |
| | 2026-01-10 | 3 | 42 | 3,565 | 5.9 | |
| | 2026-01-21 | 7 | 137 | 11,106 | 18.5 | |
| | 2026-01-28 | 5 | 132 | 8,481 | 14.1 | |
| | 2026-04-30 | 2 | 82 | 4,761 | 7.9 | |
| | 2026-05-06 | 9 | 307 | 11,584 | 19.3 | |
| | **Total** | **26** | **700** | **39,497** | **65.8** | |
|
|
| ### By object category |
|
|
| | Category | Trials | Episodes | Frames | Duration (min) | |
| |----------|-------:|---------:|-------:|---------------:| |
| | Bottle | 5 | 237 | 10,811 | 18.0 | |
| | Jelly | 6 | 115 | 10,232 | 17.1 | |
| | Sponge | 3 | 107 | 6,548 | 10.9 | |
| | Water | 4 | 70 | 4,860 | 8.1 | |
| | Wangzai | 4 | 116 | 4,294 | 7.2 | |
| | Coke | 2 | 19 | 1,512 | 2.5 | |
| | Chip | 2 | 36 | 1,240 | 2.1 | |
|
|
| The **Bottle** category includes a fill-level gradient (`Empty_bottle_1`, `P25_bottle`, `P50_bottle`, `P75_bottle`, `Full_bottle_1`) for studying tactile cues of liquid mass and slosh. |
|
|
| ## Layout |
|
|
| Datasets are grouped by recording session date. Trial names encode the manipulation outcome where relevant (e.g. `Chip_intact` = potato chip not crushed, `Chip_crushed` = chip crushed during grasp). |
|
|
| ``` |
| FeelAuthors/FEEL-Benchmark/ |
| ├── 20260110/ Jelly_1, Jelly_2, Jelly_3 (3 trials) |
| ├── 20260121/ Half_coke_2, Half_water_1, Jelly_{5,6,7}, Quarter_coke_0, Quarter_water_2 (7 trials) |
| ├── 20260128/ Half_water_{3,4}, Sponge_{1,2,3} (5 trials) |
| ├── 20260430/ Empty_bottle_1, Full_bottle_1 (2 trials) |
| └── 20260506/ Chip_intact, Chip_crushed, Empty_Want_Milk, Empty_wz, P25_bottle, |
| P50_bottle, P75_bottle, Want_Milk, Wz (9 trials) |
| ``` |
|
|
| Each `*_lerobot/` directory follows LeRobot v3.0: |
|
|
| ``` |
| <trial>_lerobot/ |
| ├── meta/ |
| │ ├── info.json # feature schema, fps, episode counts |
| │ ├── episodes.jsonl # per-episode metadata |
| │ ├── stats.json |
| │ └── tasks.jsonl |
| ├── data/chunk-000/episode_NNNNNN.parquet |
| └── videos/chunk-000/observation.images.main/episode_NNNNNN.mp4 |
| ``` |
|
|
| ## Feature schema |
|
|
| Each row in `episode_*.parquet`: |
|
|
| | Field | dtype | shape | Notes | |
| |------------------------------------|-------------|-------|----------------------------------| |
| | `index` | int64 | (1,) | Global frame index | |
| | `episode_index` | int64 | (1,) | | |
| | `frame_index` | int64 | (1,) | Per-episode frame index | |
| | `timestamp` / `timestamp_ns` | float64/int | | Aria device clock | |
| | `observation.state` | float32 | (7,) | Right-hand pose state | |
| | `action` | float32 | (2,) | Action vector | |
| | `status.hands.valid_right` | bool | (1,) | Hand-tracking validity | |
| | `action.tactile.left.force_total` | float32 | (1,) | Total force, left glove (N) | |
| | `action.tactile.right.force_total` | float32 | (1,) | Total force, right glove (N) | |
| | `observation.images.main` | video | 1408×1408×3 | Aria RGB stream | |
|
|
| ## Path format note |
|
|
| Each `meta/info.json` declares `"path_format": "groot"`. The `data_path` and `video_path` templates match standard LeRobot v3.0 (`data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet`), so the dataset is consumable by both stock LeRobot tooling and NVIDIA Isaac GR00T loaders. |
|
|
| ## Sensors |
|
|
| - **Project Aria** (RGB, eye-tracking cameras, SLAM cameras, IMUs) with MPS post-processing for gaze + hand tracking |
| - **Paxini tactile glove** for force feedback (totals exported per side; raw per-taxel data not included in this release) |
|
|
| ## Loading |
|
|
| ```python |
| from datasets import load_dataset |
| ds = load_dataset("FeelAuthors/FEEL-Benchmark", |
| data_files="20260506/P25_bottle_lerobot/data/chunk-000/*.parquet") |
| ``` |
|
|
| Or with LeRobot tooling, point a `LeRobotDataset` at a single trial directory. |
|
|
| ## License |
|
|
| [CC BY 4.0](https://creativecommons.org/licenses/by/4.0/). |
|
|
| ## Citation |
|
|
| ```bibtex |
| @misc{feel_benchmark_2026, |
| title = {FEEL-Benchmark: Egocentric Tactile-Visual Manipulation Dataset}, |
| author = {FeelAuthors}, |
| year = {2026}, |
| url = {https://huggingface.co/datasets/FeelAuthors/FEEL-Benchmark} |
| } |
| ``` |
|
|
