Datasetpublic

mlshehab/forcesight-demos

ForceSight Demos (6_3) Teleoperated demonstration datasets in LeRobot format (v2.1) for the ForceSight manipulation project. Recorded on a Franka Panda with a parallel-jaw hand and paired vision + tactile sensing. Companion fine-tuned pi0.5 policies: mlshehab/forcesight. Tasks Four manipulation tasks, teleoperated: balance — balance a white box on top of blue beams. gear — insert a gear onto a peg. medicine — pick up the bottle and place it in the orange bin if… See the full description on the dataset page: https://huggingface.co/datasets/mlshehab/forcesight-demos.

sourceHugging Faceapache-2.0updated 3mo agoView on Hugging Face

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Dataset Card

ForceSight Demos (6_3)

Teleoperated demonstration datasets in LeRobot format (v2.1) for the ForceSight manipulation project. Recorded on a Franka Panda with a parallel-jaw hand and paired vision + tactile sensing.

Companion fine-tuned pi0.5 policies: mlshehab/forcesight.

Tasks

Four manipulation tasks, teleoperated:

—balance — balance a white box on top of blue beams.
—gear — insert a gear onto a peg.
—medicine — pick up the bottle and place it in the orange bin if full, the blue bin if empty.
—plug — insert a plug into a socket.

Subsets

All three subsets cover the same four tasks (400 episodes, 101,998 frames each). They differ in observation content / labeling:

Config	Episodes	Frames	Description
`tactile_6_3`	400	101,998	Full observation set incl. both tactile streams
`pi05_6_3`	400	101,998	pi0.5 baseline (vision + state, no tactile streams)
`tapvla_6_3`	400	101,998	TAP-VLA variant (vision + state, no tactile streams) — <FILL IN: how it differs from pi0563>

Format

—codebase_version: v2.1
—robot_type: panda_hand
—fps: 15
—Note: image features are stored as image (not video-encoded), so parquet files are large. Load with the standard LeRobot dataset loader.

Observations

tactile_6_3 includes all five image streams below; pi05_6_3 and tapvla_6_3 include only the three camera streams (no *_touch_image).

Key	Type	Shape
`left_shoulder_image`	image	256×256×3
`right_shoulder_image`	image	256×256×3
`wrist_image`	image	256×256×3
`left_touch_image`	image	240×320×3
`right_touch_image`	image	240×320×3
`state`	float32	(8,) joint states

Tactile images captured with a GelSight sensor.

Actions

actions: float32 (8,) — joint actions.

Loading

python

from lerobot.common.datasets.lerobot_dataset import LeRobotDataset

ds = LeRobotDataset("mlshehab/forcesight-demos", root="tactile_6_3")
print(ds[0].keys())

License

Apache-2.0.