---
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.