| --- |
| 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](https://open-x-tactile.github.io/) / 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: |
|
|
| ```bash |
| 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 |
|
|
