| # 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=true` everywhere in the success tasks; `*_fail` tasks are |
| DELIBERATE failure demonstrations (recorded as intended, higher |
| forces/contact — contrastive signal). |
| - `tactile_contact=false` marks 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 rest `train`; 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`. |
|
|
