README.md

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title: EXOKERN
emoji: ⚡
colorFrom: blue
colorTo: red
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short_description: The Data Engine for Physical AI
---

# EXOKERN — The Data Engine for Physical AI

**Contact-rich. Sensor-annotated. Industrially validated. EU AI Act ready.**

We produce high-fidelity force/torque manipulation datasets for enterprise robotics, humanoid robot manufacturers, and research institutions — with full data provenance and compliance documentation.

## 🎯 The Problem

Over 95% of existing robotics datasets lack force/torque sensor data. Vision-only approaches fail at contact-rich tasks like insertion, assembly, and manipulation — where precise haptic feedback is critical.

Starting August 2026, the EU AI Act requires documented data provenance for AI training data. Most existing datasets cannot meet this standard.

## 💡 Our Solution

EXOKERN provides industrially calibrated **6-axis force/torque (wrench) data** alongside standard observations, enabling robots to learn manipulation skills that require physical contact understanding.

### Capture → Anchor → Ship

| Phase | What We Do | Output |
|-------|-----------|--------|
| **01 Capture** | Operators generate specific contact forces incl. systematic failures in calibrated environments | Raw data + Failure Taxonomy + QC Report |
| **02 Anchor** | Real friction logs calibrate simulation. Physics parameters validated against F/T measurements | Calibrated Sim Assets (MJCF/USD/JSON) |
| **03 Ship** | ML-ready exports in all major formats — clean, tagged, quality-certified | RLDS, HDF5, Zarr, MCAP, LeRobot v3.0 |

## 📦 Datasets

| Dataset | Task | F/T Data | Status |
|---------|------|----------|--------|
| [contactbench-forge-peginsert-v0](https://huggingface.co/datasets/EXOKERN/contactbench-forge-peginsert-v0) | Peg-in-Hole Insertion | ✅ 6-axis Wrench | Available |

> 🗺️ *More contact-rich datasets in development — including assembly, grasping, and deformable object manipulation. Commercial Contact Skill Packs available for enterprise customers.*

## 🔧 What Makes Our Data Different

- **Force/Torque annotations** on every frame (Fx, Fy, Fz, Mx, My, Mz)
- **LeRobot v3.0 compatible** — plug directly into policy training pipelines
- **Industrially relevant tasks** — insertion, assembly, contact-rich manipulation
- **Calibrated sensors** — not estimated, not vision-derived, directly measured
- **Full data provenance** — capture methodology, operator ID, QC reports, EU AI Act compliant
- **Sim-anchoring** — calibrated simulation assets bridge the Sim2Real gap

## 🏗️ Built With

- NVIDIA Isaac Lab for high-fidelity physics simulation
- LeRobot v3.0 format for interoperability
- Franka FR3 (7-DOF) robot platform
- Bota Systems SensONE 6-axis F/T sensor

## 📬 Contact

- 🌐 Website: [exokern.com](https://exokern.com)
- 🤗 HuggingFace: [huggingface.co/EXOKERN](https://huggingface.co/EXOKERN)
- 📧 Enterprise inquiries: info@exokern.com

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*EXOKERN — Bridging the Haptic Data Gap in Physical AI*