| { | |
| "name": "PhaForce", | |
| "url": [ | |
| "https://huggingface.co/datasets/wangmingxinthu/PhaForce-Dataset" | |
| ], | |
| "version": "1.0.0", | |
| "description": "Real-robot contact-rich manipulation dataset from PhaForce, converted to FTP-1/OXT-style zarr keys with visual observations, robot state, gripper state, and 6D FlexivGripperTorque wrench state.", | |
| "type": "gripper", | |
| "sensor_image": [], | |
| "sensor_array": [], | |
| "sensor_state": [ | |
| "FlexivGripperTorque" | |
| ], | |
| "task": 4, | |
| "trajectory": 260, | |
| "frame": 116870, | |
| "contact": [ | |
| "https://thu-wangmx.github.io/" | |
| ], | |
| "reference": { | |
| "paper": "PhaForce: Phase-Scheduled Visual-Force Policy Learning with Slow Planning and Fast Correction for Contact-Rich Manipulation", | |
| "website": "https://thu-wangmx.github.io/phaforce/", | |
| "authors": "Mingxin Wang, Zhirun Yue, Renhao Lu, Yizhe Li, Zihan Wang, Guoping Pan, Kangkang Dong, Jun Cheng, Yi Cheng, Houde Liu." | |
| }, | |
| "code_trigger": "PhaForce_FTP1_Converted" | |
| } |