Haptic-ACT datasets

Datasets of Haptic-ACT.

ft_maniskill/: Haptic-ACT with wrist force/torque in ManiSkill

Demonstrations of four tasks with a Franka Panda with wrist camera in ManiSkill (section 8 of the GitHub README), recorded in the environments of the haptic-act branch of KelinLi-ReCAST/ManiSkill. Each ft_maniskill/<task>/lerobot_ft_replan/ is a LeRobot dataset (format v3.0, 20 fps).

Task	Folder	ManiSkill environment	Demonstrations	Episodes	Frames
PegInsertionSide	peg	PegInsertionSideFT-v1	scripted jam and recovery	1000	196,523
PickCube	pickcube	PickCubeVisGoal-v1	motion planner	1000	78,246
StackCube	stackcube	StackCube-v1	ManiSkill's demonstrations, replayed	1000	107,420
PushCube	pushcube	PushCube-v1	ManiSkill's demonstrations, replayed	990	68,287

Column	Shape	Content
observation.images.base_camera, observation.images.wrist_camera	480 x 480 x 3	RGB video
observation.state, observation.qvel	9	joint positions / velocities (7 arm joints, 2 fingers)
action	8	absolute targets of the 7 arm joints and the gripper (pd_joint_pos)
observation.torque	7	arm-joint torques (N m)
observation.wrench	6	TCP wrench [fx fy fz tx ty tz] (N, N m, TCP frame), least squares of tau = J^T F
observation.environment_state	30	the last 5 wrenches, oldest first: the F/T input of Haptic-ACT
observation.torque_hist	35	the last 5 joint-torque readings
observation.torque_do	7	joint torques with 30 % of the frames zeroed
observation.peg_box_force (peg) / observation.contact_force	1	contact force between the object and the box / goal (N), privileged, not a policy input
phase	1	demonstration phase (peg: reach, grasp, align, jam, backoff, realign, insert)
replan	1	1 during the deliberate jam of the peg demonstrations (contact force > 2 N), else 0: the label of the re-planning head
next.success	1	task success after the frame's action

The baselines (ACT, Diffusion Policy, BC) train on a copy without the force columns, made by ft_maniskill/dataset_processing/make_baseline_dataset.py of the GitHub repository.

hf download KelinLiIC/Haptic-ACT --repo-type dataset --local-dir data_ft --include "ft_maniskill/*"

Citation

@inproceedings{li2025hapticact,
  title     = {Haptic-ACT: Bridging Human Intuition with Compliant Robotic Manipulation via Immersive VR},
  author    = {Li, Kelin and Wagh, Shubham M and Sharma, Nitish and Bhadani, Saksham and Chen, Wei and Liu, Chang and Kormushev, Petar},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year      = {2025},
  doi       = {10.1109/IROS60139.2025.11247471},
  note      = {arXiv:2409.11925}
}