| --- |
| license: cc-by-nc-4.0 |
| pretty_name: IK-Modulation — Segment Zarr |
| tags: |
| - robotics |
| - tactile |
| - humanoid |
| - manipulation |
| - zarr |
| --- |
| |
| # IK-Modulation — Segment Zarr |
|
|
| Segmented, contact-cycle **Zarr** datasets for **force-conditioned IK-target modulation** |
| on a Unitree G1 humanoid. Each task pairs teleop cycles (which carry a real IK "press") |
| with human-demonstration cycles; a transfer rule turns teleop IK offsets into per-hand XY |
| press targets used to train the modulator. |
|
|
| Raw source bags: [`GeorgiaTech/Lidar-Tactile`](https://huggingface.co/datasets/GeorgiaTech/Lidar-Tactile). |
|
|
| ## `bucket/` — bucket task (2026-05) |
|
|
| Contact label space `1=left, 2=right, 3=both`; training cycle `2→3→1`. |
|
|
| ``` |
| bucket/ |
| teleop/teleop_old_ik_231_sequences_bucket_dur4to7p5_closure0p12.zarr # final teleop (39 cycles) |
| human/human_bucket_force_231_sequences_bucket_closure0p20.zarr # final human (~24–29 cycles) |
| intermediate/ |
| teleop_old_ik_231_sequences_ikbar0p020_7p5_bucket.zarr # raw IK-error 2-3-1 cycles (97) |
| teleop_old_ik_231_sequences_bucket_dur4to7p5.zarr # + duration 4–7.5 s filter (63) |
| human_bucket_force_segments_all_bucket.zarr # raw force segments (188) |
| human_bucket_force_231_sequences_bucket.zarr # assembled 2-3-1 (28, pre-closure) |
| human_bucket_force_23132_sequences_bucket.zarr # longer closing 2-3-1-3-2 cycles (sanity) |
| ``` |
|
|
| - **Teleop** segmented by IK-tracking-error; **human** segmented by tactile force (≥1 N, |
| sensor1=left). The two `final` zarrs are what training consumes. |
| - Zarr layout: `data/state` (pose + tactile + force), `data/action` (teleop IK target), |
| `data/segment_label` (1/2/3), `data/force_contact`, `meta/episode_ends`. |
|
|
| ```python |
| import zarr |
| z = zarr.open("bucket/human/human_bucket_force_231_sequences_bucket_closure0p20.zarr") |
| print(list(z["data"].keys()), len(z["meta/episode_ends"])) |
| ``` |
|
|
| Full pipeline (segmentation, IK transfer rule, training) is documented in |
| `ik_modulation/configs/bucket_pipeline/BUCKET_PIPELINE.md` (in the `diffusion_humanoid_train` repo). |
|
|
| ## Other tasks in this repo |
| Sibling datasets from the same IK-modulation line of work also live here, e.g. |
| `0517_human_yogaball/`, `0510_yoga_teleop_processed/`, `0512_yogaball_human_processed/`, |
| and other teleop captures. The `bucket/` tree above is the 2026-05 bucket task. |
|
|
