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task string | text string | operator string | tags list | policy string | dagger_round int64 | success null | notes string | driver_modes dict | clock_calibration dict | config_hash string | hardware_shapes dict | status string |
|---|---|---|---|---|---|---|---|---|---|---|---|---|
test | test | test | [
"full"
] | teleop | -1 | null | {
"drivers": "real"
} | {
"offset": -181312.45653098248,
"n_samples": 200,
"spread_s": 0.00044466243646248434
} | 132c50e07c603dc8 | {
"field": [
288,
384
],
"field_ch": 8,
"n_fingers": 2,
"wrench_dim": 6,
"wrist_ft_dim": 6,
"wrist_window_len": 31,
"ur_state_dim": 26,
"contact_state_dim": 11,
"action_dim": 7,
"chunk_horizon": 16,
"cpk_shape": [
36,
48
]
} | finalized | |
test | test | test | [
"full"
] | teleop | -1 | null | {
"drivers": "real"
} | {
"offset": -181312.45653098248,
"n_samples": 200,
"spread_s": 0.00044466243646248434
} | 132c50e07c603dc8 | {
"field": [
288,
384
],
"field_ch": 8,
"n_fingers": 2,
"wrench_dim": 6,
"wrist_ft_dim": 6,
"wrist_window_len": 31,
"ur_state_dim": 26,
"contact_state_dim": 11,
"action_dim": 7,
"chunk_horizon": 16,
"cpk_shape": [
36,
48
]
} | aborted | |
test | test | test | [
"full"
] | teleop | -1 | null | {
"drivers": "real"
} | {
"offset": -181312.45653098248,
"n_samples": 200,
"spread_s": 0.00044466243646248434
} | 132c50e07c603dc8 | {
"field": [
288,
384
],
"field_ch": 8,
"n_fingers": 2,
"wrench_dim": 6,
"wrist_ft_dim": 6,
"wrist_window_len": 31,
"ur_state_dim": 26,
"contact_state_dim": 11,
"action_dim": 7,
"chunk_horizon": 16,
"cpk_shape": [
36,
48
]
} | finalized | |
test | test | test | [
"full"
] | teleop | -1 | null | {
"drivers": "real"
} | {
"offset": -181312.45653098248,
"n_samples": 200,
"spread_s": 0.00044466243646248434
} | 132c50e07c603dc8 | {
"field": [
288,
384
],
"field_ch": 8,
"n_fingers": 2,
"wrench_dim": 6,
"wrist_ft_dim": 6,
"wrist_window_len": 31,
"ur_state_dim": 26,
"contact_state_dim": 11,
"action_dim": 7,
"chunk_horizon": 16,
"cpk_shape": [
36,
48
]
} | aborted |
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PHANTOM episodes
Tactile manipulation episodes for the PHANTOM tactile world-action-model (UR3 + Robotiq 2F-85 + 2x Daimon DM-Tac W2L fingertip sensors + RealSense scene camera, teleoperated via the Echo exoskeleton leader).
Layout
tasks/<task>/ep_<task>_<epoch>_<idx>/— canonical flattened view: one directory per episode, grouped by task. Use this +manifests/.manifests/<task>.jsonl,manifests/all.jsonl— one JSON object per episode: success, split (train/val),tactile_contact, duration, peak force, contact area, source session, quality notes, hub path.manifests/quality_full.csv— full per-episode quality audit.archive/,collect/— raw as-recorded session layout (provenance; superset that also contains pre-cleanup debug takes).
Episode format
Each episode directory holds one zarr group per stream (data + ts
arrays, timestamps in master-clock seconds) plus meta.json.
Streams:
| Stream | Contents | Rate |
|---|---|---|
camera_scene_color |
JPEG images | ~15 Hz |
tactile_left, tactile_right |
wrench (6D, N / 1e−2 Nm), area (mm²), fields_ds (72×96×8, f16), keyframes (144×192×8, f16), infer_img (288×384, u8) |
~6.5 Hz |
arm |
q, qd, tcp_pose, tcp_speed, ft |
~125–140 Hz |
gripper |
pos, obj-detect |
~100 Hz |
actions |
Delta end-effector commands | ~10 Hz |
actions_abs |
Absolute joint targets + gripper command | Event-based |
Tasks
| task | episodes | role | median dur | median peak |F| | median contact |
|---|---|---|---|---|---|
| Carton | 180 | successes | 17.4 s | 12.9 N | 17.9 mm² |
| Carton_fail | 20 | failure demos | 17.7 s | 26.3 N | 36.1 mm² |
| waffles | 180 | successes | 18.3 s | 8.4 N | 3.0 mm² |
| waffles_fail | 20 | failure demos | 20.4 s | 17.8 N | 25.5 mm² |
| egg | 155 | successes | 27.6 s | 8.8 N | 18.0 mm² |
| egg_fail | 20 | failure demos | 18.4 s | 33.5 N | 49.1 mm² |
Notes
success=trueeverywhere in the success tasks;*_failtasks are DELIBERATE failure demonstrations (recorded as intended, higher forces/contact — contrastive signal).tactile_contact=falsemarks episodes where the grasp landed outside the sensor pads (valid vision/proprio demos, no tactile signal).- Split rule: per success task, the last 2 sessions (chronological) are
val, the resttrain; failure demos are train-only. Re-split freely via the manifests — they are the source of truth, not the folder layout. - Peak forces briefly exceed the 30 N pad ceiling in a handful of
episodes (dynamic spikes, mostly failure demos) — flagged in
quality_notes.
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