# 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`.