---
license: cc-by-nc-4.0
task_categories:
- robotics
tags:
- robotics
- tactile
- force
- contact-rich-manipulation
- zarr
pretty_name: PhaForce Dataset
---

# PhaForce Dataset

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**.

Project page: https://thu-wangmx.github.io/phaforce/

## Contents

The dataset is converted to FTP-1 / Open-X-Tactile-style zarr keys. Each task is stored as one zarr group:

- `open_drawer.zarr`: 50 trajectories, 21,653 frames
- `plug_in_charger.zarr`: 100 trajectories, 40,095 frames
- `plug_in_usb.zarr`: 60 trajectories, 21,245 frames
- `wiping_board.zarr`: 50 trajectories, 33,877 frames

Total: 260 trajectories, 116,870 frames.

## Key Mapping

- `camera_main_rgb`: external RGB camera, `(T, 240, 320, 3)`
- `left_wrist_camera_rgb`: wrist RGB camera, `(T, 240, 320, 3)`
- `left_wrist_pose`: TCP pose converted from 9D pose to `(x, y, z, rotvec)`, `(T, 6)`
- `left_arm_joints`: robot arm joints, `(T, 7)`
- `left_hand_joints`: gripper width, `(T, 1)`
- `left_hand_joints_idx`: gripper scalar index, filled with `28`
- `left_tactile_data_wrench`: 6D TCP wrench state, `(T, 6, 1)`
- `left_tactile_area_wrench`: function-area ids, filled with `[15, 16, 17, 18, 19, 20]`
- `left_tactile_sensor_wrench`: `FlexivGripperTorque`
- `left_tactile_type_wrench`: `state`
- `sub_task_instruction`: per-step task instruction

The original empty `right_wrist_img` stream is intentionally not exported.

## Citation

```bibtex
@inproceedings{wang2026phaforce,
  title={PhaForce: Phase-Scheduled Visual-Force Policy Learning with Slow Planning and Fast Correction for Contact-Rich Manipulation},
  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},
  booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year={2026}
}
```