| ---
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| license: cc-by-nc-4.0
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| task_categories:
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| - robotics
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| tags:
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| - robotics
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| - tactile
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| - force
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| - contact-rich-manipulation
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| - zarr
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| pretty_name: PhaForce Dataset
|
| ---
|
|
|
| # PhaForce Dataset
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|
|
| This repository hosts the real-robot contact-rich manipulation dataset used by **PhaForce: Phase-Scheduled Visual-Force Policy Learning with Slow Planning and Fast Correction for Contact-Rich Manipulation**.
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|
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| Project page: https://thu-wangmx.github.io/phaforce/
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|
|
| ## Contents
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|
|
| The dataset is converted to FTP-1 / Open-X-Tactile-style zarr keys. Each task is stored as one zarr group:
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|
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| - `open_drawer.zarr`: 50 trajectories, 21,653 frames
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| - `plug_in_charger.zarr`: 100 trajectories, 40,095 frames
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| - `plug_in_usb.zarr`: 60 trajectories, 21,245 frames
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| - `wiping_board.zarr`: 50 trajectories, 33,877 frames
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|
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| Total: 260 trajectories, 116,870 frames.
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|
|
| ## Key Mapping
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|
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| - `camera_main_rgb`: external RGB camera, `(T, 240, 320, 3)`
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| - `left_wrist_camera_rgb`: wrist RGB camera, `(T, 240, 320, 3)`
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| - `left_wrist_pose`: TCP pose converted from 9D pose to `(x, y, z, rotvec)`, `(T, 6)`
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| - `left_arm_joints`: robot arm joints, `(T, 7)`
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| - `left_hand_joints`: gripper width, `(T, 1)`
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| - `left_hand_joints_idx`: gripper scalar index, filled with `28`
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| - `left_tactile_data_wrench`: 6D TCP wrench state, `(T, 6, 1)`
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| - `left_tactile_area_wrench`: function-area ids, filled with `[15, 16, 17, 18, 19, 20]`
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| - `left_tactile_sensor_wrench`: `FlexivGripperTorque`
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| - `left_tactile_type_wrench`: `state`
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| - `sub_task_instruction`: per-step task instruction
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|
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| The original empty `right_wrist_img` stream is intentionally not exported.
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|
|
| ## Citation
|
|
|
| ```bibtex
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| @inproceedings{wang2026phaforce,
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| title={PhaForce: Phase-Scheduled Visual-Force Policy Learning with Slow Planning and Fast Correction for Contact-Rich Manipulation},
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| author={Wang, Mingxin and Yue, Zhirun and Lu, Renhao and Li, Yizhe and Wang, Zihan and Pan, Guoping and Dong, Kangkang and Cheng, Jun and Cheng, Yi and Liu, Houde},
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| booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
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| year={2026}
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| }
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| ```
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|
|
