Datasets:

Jingyi-Z
/

sotac

@@ -1,182 +1,198 @@
----
-license: apache-2.0
-task_categories:
-- robotics
-tags:
-- LeRobot
-configs:
-- config_name: default
-  data_files: data/*/*.parquet
----
-This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
-<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=Jingyi-Z/sotac">
-<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>
-## Dataset Description
-- **Homepage:** [More Information Needed]
-- **Paper:** [More Information Needed]
-- **License:** apache-2.0
-## 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": [
-                "dim_0",
-                "dim_1",
-                "dim_2"
-            ]
-        },
-        "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": 77,
-    "total_frames": 42684,
-    "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": "0:77"
-    }
-}
-```
-## Citation
-**BibTeX:**
-```bibtex
-[More Information Needed]
-```

+---
+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.
+Current release (2026-08-18): 62 episodes / 35,412 frames (~20 min) across
+3 pick-and-place tasks:
+| task | episodes | episode # |
+|---|---|---|
+| Pick up the red foam ball and place it into the container | 25 | 0–9, 47–61 |
+| Pick up the orange rubber ball and place it into the container | 17 | 10–26 |
+| Pick up the red cup and place it on top of the container | 20 | 27–46 |
+Grip forces span gentle (~4–10 N peak) to firm (~50 N peak) handling across sessions.
+**Data collection**: episodes 0–9 & 27–31 by Jingming Zhang, episodes 10–26 by
+Yuzhou Wang, episodes 32–61 by Jingyi Zou.
+## 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. Object placement is
+varied between episodes.
+## 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": 62,
+    "total_frames": 35412,
+    "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": "0:62"
+    }
+}
+```
+## 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}}
+}
+```