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Datasets:
cloudfan
/
PAM_data

Languages:
English
Tags:
robotics
tactile-sensing
imitation-learning
franka-panda
open-x-tactile
Dataset card Files
xet
 Community
Dataset Viewer
The dataset viewer is not available for this dataset.
Cannot get the config names for the dataset.
Error code:   ConfigNamesError
Exception:    BadZipFile
Message:      zipfiles that span multiple disks are not supported
Traceback:    Traceback (most recent call last):
                File "/src/services/worker/src/worker/job_runners/dataset/config_names.py", line 67, in compute_config_names_response
                  config_names = get_dataset_config_names(
                      path=dataset,
                      token=hf_token,
                  )
                File "/usr/local/lib/python3.14/site-packages/datasets/inspect.py", line 161, in get_dataset_config_names
                  dataset_module = dataset_module_factory(
                      path,
                  ...<4 lines>...
                      **download_kwargs,
                  )
                File "/usr/local/lib/python3.14/site-packages/datasets/load.py", line 1215, in dataset_module_factory
                  raise e1 from None
                File "/usr/local/lib/python3.14/site-packages/datasets/load.py", line 1190, in dataset_module_factory
                  ).get_module()
                    ~~~~~~~~~~^^
                File "/usr/local/lib/python3.14/site-packages/datasets/load.py", line 655, in get_module
                  module_name, default_builder_kwargs = infer_module_for_data_files(
                                                        ~~~~~~~~~~~~~~~~~~~~~~~~~~~^
                      data_files=data_files,
                      ^^^^^^^^^^^^^^^^^^^^^^
                      path=self.name,
                      ^^^^^^^^^^^^^^^
                      download_config=self.download_config,
                      ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                  )
                  ^
                File "/usr/local/lib/python3.14/site-packages/datasets/load.py", line 309, in infer_module_for_data_files
                  split: infer_module_for_data_files_list(data_files_list, download_config=download_config)
                         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/load.py", line 253, in infer_module_for_data_files_list
                  return infer_module_for_data_files_list_in_archives(data_files_list, download_config=download_config)
                File "/usr/local/lib/python3.14/site-packages/datasets/load.py", line 280, in infer_module_for_data_files_list_in_archives
                  f.split("::")[0] for f in xglob(extracted, recursive=True, download_config=download_config)
                                            ~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/utils/file_utils.py", line 1057, in xglob
                  fs, *_ = url_to_fs(urlpath, **storage_options)
                           ~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/fsspec/core.py", line 408, in url_to_fs
                  fs = filesystem(protocol, **inkwargs)
                File "/usr/local/lib/python3.14/site-packages/fsspec/registry.py", line 303, in filesystem
                  return cls(**storage_options)
                File "/usr/local/lib/python3.14/site-packages/fsspec/spec.py", line 81, in __call__
                  obj = super().__call__(*args, **kwargs)
                File "/usr/local/lib/python3.14/site-packages/fsspec/implementations/zip.py", line 62, in __init__
                  self.zip = zipfile.ZipFile(
                             ~~~~~~~~~~~~~~~^
                      self.fo,
                      ^^^^^^^^
                  ...<3 lines>...
                      compresslevel=compresslevel,
                      ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                  )
                  ^
                File "/usr/local/lib/python3.14/zipfile/__init__.py", line 1472, in __init__
                  self._RealGetContents()
                  ~~~~~~~~~~~~~~~~~~~~~^^
                File "/usr/local/lib/python3.14/zipfile/__init__.py", line 1535, in _RealGetContents
                  endrec = _EndRecData(fp)
                File "/usr/local/lib/python3.14/zipfile/__init__.py", line 375, in _EndRecData
                  return _EndRecData64(fpin, filesize - sizeEndCentDir, endrec)
                File "/usr/local/lib/python3.14/zipfile/__init__.py", line 303, in _EndRecData64
                  raise BadZipFile("zipfiles that span multiple disks are not supported")
              zipfile.BadZipFile: zipfiles that span multiple disks are not supported

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PAM19

PAM19 is a real-world Franka Panda tactile-manipulation dataset containing 1,904 trajectories across 19 tasks. Demonstrations were collected in joint space with two RGB cameras and two Xense vision-based tactile sensors, then converted to FTP-1-compatible Zarr format.

The dataset follows the Open-X-Tactile / FTP-1 data convention.

Dataset summary

  • Robot: Franka Panda with a parallel gripper
  • Tactile sensor: Xense, two gripper-side image streams
  • RGB streams: main camera and wrist camera
  • Tasks: 19
  • Trajectories: 1,904
  • Frames: 2,061,059
  • Control/state representation: 7 arm joints and one gripper-opening scalar
  • Image resolution in Zarr: 224 × 224

Tasks

  • USB_plug
  • cable_routing
  • cut
  • cut_long
  • drop
  • erase
  • network_cable
  • peelCucumber
  • pick
  • pick_easy
  • plug_in
  • pour
  • screw_vitmain
  • screw_xuebi
  • screw_yibao
  • screw_yuanqi
  • tiny_pickA
  • tiny_pickAB
  • tiny_pickB

Files

Each task directory contains one store-only split ZIP archive of an FTP-1-compatible <task>.zarr directory. The split size is 10 GiB. Small tasks may contain only a .zip file; larger tasks also contain .z01, .z02, and subsequent parts.

To reconstruct and extract a split archive:

zip -s 0 <task>/<task>.zip --out <task>/<task>-full.zip
unzip <task>/<task>-full.zip

Main Zarr fields

  • timestamps
  • camera_main_rgb
  • right_wrist_camera_rgb
  • right_arm_joints
  • right_hand_joints
  • right_hand_joints_idx
  • right_tactile_data_gripper
  • right_tactile_area_gripper
  • right_tactile_sensor_gripper
  • right_tactile_type_gripper
  • sub_task_instruction

The gripper scalar uses canonical hand slot 28. The two tactile channels are stored in left/right order with functional-area indices [0, 1].

Contact

e1373933@u.nus.edu
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