README.md

metadata

pretty_name: PAM19
language:
  - en
tags:
  - robotics
  - tactile-sensing
  - imitation-learning
  - franka-panda
  - open-x-tactile

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