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| license: mit |
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| # UniVTAC Benchmark Dataset |
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| The UniVTAC Benchmark dataset provides simulation data for tactile-based robotic manipulation tasks. |
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| ## Overview |
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| This dataset contains 100 episodes per task, totaling 800 episodes across 8 diverse manipulation tasks. |
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| ## Task Gallery |
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| UniVTAC Benchmark currently includes the following manipulation tasks, all featuring tactile sensing: |
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| | Task | Module | Description | |
| |---|---|---| |
| | **Collect** | `collect` | Collect contact-rich tactile data for pretraining | |
| | **Lift Bottle** | `lift_bottle` | Grasp and lift a bottle off a surface near a wall | |
| | **Lift Can** | `lift_can` | Grasp and lift a cylindrical can | |
| | **Insert HDMI** | `insert_HDMI` | Insert an HDMI connector into a port | |
| | **Insert Hole** | `insert_hole` | Precision peg-in-hole insertion | |
| | **Insert Tube** | `insert_tube` | Insert a tube into a fixture | |
| | **Pull Out Key** | `pull_out_key` | Extract a key from a lock | |
| | **Put Bottle in Shelf** | `put_bottle_in_shelf` | Place a bottle onto a shelf | |
| | **Grasp & Classify** | `grasp_classify` | Grasp an object and classify it by tactile feedback | |
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| ## Usage |
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| For detailed instructions on data loading, environment setup, and benchmarking protocols, please visit our: |
| 👉 [official website](https://univtac.github.io/) |
| 👉 [Github repo](https://github.com/univtac/UniVTAC) |
