| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - tactile |
| - so101 |
| - paxini |
| configs: |
| - config_name: default |
| data_files: data/*/*.parquet |
| language: |
| - en |
| pretty_name: SoTac |
| size_categories: |
| - 10K<n<100K |
|
|
| --- |
| |
| # SoTac — SO-101 Tactile Manipulation Corpus |
|
|
| SoTac is a growing corpus of visuo-tactile teleoperation demonstrations recorded on an |
| SO-101 arm with dual 3-axis tactile fingertip sensors. Every 30 Hz observation carries a |
| full per-taxel force map for both fingertips, and every episode ships with the raw |
| ~91 Hz tactile stream as a sidecar — no downsampling at record time. |
|
|
| Created using [LeRobot](https://github.com/huggingface/lerobot) (via the |
| [lerobotac](https://github.com/Jingyi-Z/lerobotac) sensor fork). |
|
|
| <a class="flex" href="https://jingyi-z-lerobotac-dataset-visualizer.hf.space/Jingyi-Z/sotac/0"> |
| <img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/> |
| <img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/> |
| </a> |
|
|
| Use the button above — it opens the [LeRobotAC tactile visualizer](https://huggingface.co/spaces/Jingyi-Z/lerobotac-dataset-visualizer) |
| with per-taxel 3D force arrows, contact timelines, and the raw 91 Hz stream panels. |
| The standard LeRobot viewer does not render the tactile data. |
|
|
| ## Contents |
|
|
| SoTac is actively growing — new tasks, objects, and sensors will be added over time. |
| This is the **curated** set: every episode was human-reviewed. Episodes with contact |
| faults (accidental gripper contact during approach, closed-finger approaches, |
| post-release contact), operator visibility, or sensor faults are removed, and idle |
| heads/tails are trimmed so every episode starts near task onset. The unedited archive |
| is [Jingyi-Z/sotac_raw](https://huggingface.co/datasets/Jingyi-Z/sotac_raw). |
|
|
| Current release (2026-08-26): 63 episodes / 25,401 frames (~14 min) across |
| 3 pick-and-place tasks, grouped by task: |
|
|
| | task | episodes | episode # | |
| | ------------------------------------------------------------ | -------- | --------- | |
| | Pick up the red foam ball and place it into the container | 21 | 0–20 | |
| | Pick up the orange rubber ball and place it into the container | 22 | 21–42 | |
| | Pick up the red cup and place it on top of the container | 20 | 43–62 | |
|
|
| **Per-episode annotations** ship in `annotations/`: |
|
|
| - `episode_annotations.json`: episode-level curation labels — grasp type, attempt |
| count, outcome (success / failure / partial), distractor objects (11 episodes |
| include an orange ball or white box as distraction), grip-force quality labels |
| (insufficient/excessive force), and free-form event notes. |
| - `episode_XXXXXX.json` (all 63 episodes): time-aligned language annotations — |
| subtask segments (approach, grasp, transport, place_release) and tactile event |
| interjections (contact, grasp_stable, slip, rotation, place, release/drop) with |
| per-event confidence. Auto-generated from the 91 Hz tactile stream and |
| human-reviewed in the visualizer. |
|
|
| **Stable provenance**: every episode carries a `source_raw_episode` field — both as a |
| column in `meta/episodes` and in the annotations — pointing to its index in |
| [sotac_raw](https://huggingface.co/datasets/Jingyi-Z/sotac_raw), which is append-only |
| and never renumbered. Curated releases may renumber freely; raw indices are the |
| permanent episode identity. `curation_map.json` in the root holds the full mapping. |
|
|
| Grip forces span gentle (~4–10 N peak) to firm (~50 N peak) handling across sessions. |
|
|
| **Data collection**: episodes 0–5 & 43–47 by Jingming Zhang, episodes 21–33 by |
| Yuzhou Wang, episodes 6–20, 34–42 & 48–62 by Jingyi Zou. |
|
|
| **Curation provenance**: derived from `sotac_raw` with |
| [`curate_tactile_dataset.py`](https://github.com/Jingyi-Z/lerobotac/blob/hall-sensor/curate_tactile_dataset.py) |
| and the spec `curation_sotac_v2.json` (same repo) — all deletions and per-episode |
| keep-windows are reproducible. |
|
|
| ## Hardware |
|
|
| - **Robot**: SO-101 follower arm, teleoperated with an SO-101 leader arm |
| - **Cameras**: wrist + top, 640×480 @ 30 fps (MJPG) |
| - **Tactile**: 2× Paxini PX-6AX GEN3 (DP-S2015-Elite) fingertip pads on a shared |
| High-Speed Communication Board — 52 taxels per pad, 3-axis force per taxel, |
| 0.1 N/LSB, ~91 Hz effective rate for both pads together. Firmware zeroing at |
| connect. Finger `[0]` = gripper-side pad (module 10), finger `[1]` = |
| wrist-roll-side pad (module 18). |
|
|
| ## Data format |
|
|
| Standard [LeRobot](https://github.com/huggingface/lerobot) v3.0 dataset, plus one |
| extra feature and one extra directory: |
|
|
| **`observation.sensors.paxini_fingertip`** — float32, shape `(2, 52, 3)`: |
| the latest raw tactile sample per finger at each 30 Hz observation |
| (fingers × taxels × [fx, fy, fz], in units of 0.1 N). Per-taxel (x, y, z) mm |
| coordinates for the GEN3 layout are available in |
| [paxini-sdk](https://github.com/Jingyi-Z/paxini-sdk). |
| |
| **`sensors/paxini_fingertip/episode_XXXXXX/`** — raw ~91 Hz stream sidecars: |
| |
| - `sensor_1.csv`, `sensor_2.csv` (fingers 0 and 1): 163 columns — |
| `timestamp_ns, frame_status, time_calibration_offset_ns, calibrated_timestamp_ns, |
| fx, fy, fz, p_00_fx … p_51_fz` (resultant force followed by 52 per-taxel triplets) |
| - `alignment.json`: episode-start epoch timestamp (`time.time_ns`) anchoring the raw |
| stream to frame 0 of the 30 Hz main table |
| |
| ## Collection protocol |
| |
| Episodes start with the gripper open and the pads contact-free (calibration reference). |
| The operator and leader arm are kept out of both camera views where possible; |
| remaining appearances are flagged per-episode in the annotations. Object placement is |
| varied between episodes; some episodes include distractor objects. |
| |
| ## Tooling |
| |
| - Recording: [lerobotac](https://github.com/Jingyi-Z/lerobotac) (`hall-sensor` branch) — |
| LeRobot fork with a sensor framework; the `paxini` sensor's `combined` output mode + |
| `record_raw_csv` produced this dataset |
| - Sensor SDK: [paxini-sdk](https://github.com/Jingyi-Z/paxini-sdk) |
| - Visualization / annotation: [LeRobotAC Dataset Visualizer](https://huggingface.co/spaces/Jingyi-Z/lerobotac-dataset-visualizer) |
| |
| ## Dataset Structure |
| |
| [meta/info.json](meta/info.json): |
| |
| ```json |
| { |
| "codebase_version": "v3.0", |
| "fps": 30, |
| "features": { |
| "action": { |
| "dtype": "float32", |
| "names": [ |
| "shoulder_pan.pos", |
| "shoulder_lift.pos", |
| "elbow_flex.pos", |
| "wrist_flex.pos", |
| "wrist_roll.pos", |
| "gripper.pos" |
| ], |
| "shape": [6] |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "names": [ |
| "shoulder_pan.pos", |
| "shoulder_lift.pos", |
| "elbow_flex.pos", |
| "wrist_flex.pos", |
| "wrist_roll.pos", |
| "gripper.pos" |
| ], |
| "shape": [6] |
| }, |
| "observation.images.wrist": { |
| "dtype": "video", |
| "shape": [480, 640, 3], |
| "names": ["height", "width", "channels"], |
| "info": { |
| "video.height": 480, |
| "video.width": 640, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.top": { |
| "dtype": "video", |
| "shape": [480, 640, 3], |
| "names": ["height", "width", "channels"], |
| "info": { |
| "video.height": 480, |
| "video.width": 640, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.sensors.paxini_fingertip": { |
| "dtype": "float32", |
| "shape": [2, 52, 3], |
| "names": ["finger", "taxel", "axis"] |
| }, |
| "timestamp": {"dtype": "float32", "shape": [1], "names": null}, |
| "frame_index": {"dtype": "int64", "shape": [1], "names": null}, |
| "episode_index": {"dtype": "int64", "shape": [1], "names": null}, |
| "index": {"dtype": "int64", "shape": [1], "names": null}, |
| "task_index": {"dtype": "int64", "shape": [1], "names": null} |
| }, |
| "total_episodes": 63, |
| "total_frames": 25401, |
| "total_tasks": 3, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 200, |
| "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", |
| "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", |
| "robot_type": "so_sensor_follower", |
| "splits": { |
| "train": "0:63" |
| } |
| } |
| ``` |
| |
| ## Citation |
| |
| ```bibtex |
| @misc{zou2026sotac, |
| author = {Zou, Jingyi}, |
| title = {SoTac: An SO-101 Tactile Manipulation Corpus}, |
| year = {2026}, |
| howpublished = {\url{https://huggingface.co/datasets/Jingyi-Z/sotac}} |
| } |
| ``` |
