---
license: cc-by-4.0
pretty_name: DreamTac
size_categories:
- 100K<n<1M
tags:
- robotics
- tactile-sensing
- robot-manipulation
- multimodal
- zarr
---

# DreamTac

DreamTac is a contact-rich robot manipulation dataset collected at PKU with a
Franka Emika Panda, two synchronized RGB cameras, and two Xense Photon
vision-based tactile sensors mounted on the gripper fingertips.

This release follows the Open-X-Tactile submission format.

## Dataset summary

- 12 tasks
- 703 successful trajectories
- 506,078 frames
- 20 FPS (approximately 7.03 hours)
- Third-person RGB: `camera_main_rgb`, 224 x 224 RGB
- Wrist RGB: `right_wrist_camera_rgb`, 224 x 224 RGB
- Tactile RGB: `right_tactile_data_gripper`, two 224 x 224 RGB streams
- End-effector pose: position in meters plus rotation vector in radians,
  expressed in the Franka base frame
- Gripper: one scalar opening value; arm joint angles are not included

The tactile area IDs are `0` for the left fingertip and `1` for the right
fingertip. Files from the source `no_tactile` batch are excluded.

## Files

Each task is distributed as one archive under `zarr_archives/` to avoid
placing roughly 100,000 individual Zarr chunk files in the Hub repository.
Extract an archive with:

```bash
tar -xf zarr_archives/pick_bread.zarr.tar
```

The extracted directory is a standard Zarr v2 group. Submission metadata,
hardware images, conversion manifests, and Open-X-Tactile check reports are
under `submission/`.

## Tasks

`clean_whiteboard`, `cut_banana`, `insert_screw`, `insert_usb`, `pick_bread`,
`pick_hongzhong`, `pick_place`, `pick_usb`, `push_hongzhong_pos1`,
`push_hongzhong_pos2`, `push_hongzhong_pos3`, and `stack_bowl`.

## License

DreamTac is released under the Creative Commons Attribution 4.0 International
(CC BY 4.0) license.

## References

- Paper: [Dream-Tac: A Unified Tactile World Action Model for Contact-Rich Robot Manipulation](https://arxiv.org/abs/2606.08737)
- Project repository: [LYFCLOUDFAN/Dream-Tac](https://github.com/LYFCLOUDFAN/Dream-Tac)

Contact: `e1373933@u.nus.edu`