Datasets:
license: mit
tags:
- LeRobot
- robotics
- tactile
- xarm
task_categories:
- robotics
xarm_tube_binmarker9
xArm7 phone-teleop dataset for tube ("pick up the tube and put it in the nearest slot") with the binmarker9
tactile overlay burned into the camera frames: 9 arrows per gripper finger
(one at each of the 9 forward-kinematics-projected sensor pad cells) with fixed length AND fixed direction
(the sensor-frame pad normal - a rigid "flag" on the finger), drawn iff that
finger's binary contact state is ON.
The overlay carries only the per-finger contact bit - NO force magnitude and NO force direction.
Why this variant exists
binmarker9 is the 9-arrow arm of a matched pair that holds information
content constant and varies only presentation:
| Variant | Arrows/finger | Contact bit | Direction | Magnitude |
|---|---|---|---|---|
binmarker |
1 | YES | no | no |
binmarker9 |
9 | YES | no | no |
Because all 9 arrows carry the identical fixed direction and length, the
rendering is provably independent of the tactile values: 0 max pixel change
across 300 randomized force readings at a fixed pose. The 9-arrow arm paints
~3.1x the arrow ink of the 1-arrow arm, so binmarker vs binmarker9 measures
sensitivity to overlay presentation / salience rather than to force information.
Note on appearance: the 9 arrows share one direction and the pad cells sit ~1 cm apart, so they render as a thick overlapping marker rather than 9 individually countable arrows. That is forced by the ablation - 9 arrows carrying no direction or magnitude information must be 9 identical arrows.
Contact detection (how the threshold was tuned)
Per-finger binary contact from the 3x3x3-axis tactile array:
- Normalization offset = median over known-idle frames (first 10 frames of each episode, post-homing, gripper open). The naive whole-dataset median is contact-polluted on tasks that spend most frames in contact (charger: 60% closed frames made idle read as a fake magnitude of ~1.2).
- Metric = max over the 9 cells of the normalized cell-vector L2 norm ("max-cell"). Idle p99.5 <= 0.24 on every task, real contacts >= ~0.3.
- Hysteresis + debounce (Schmitt trigger): ON after 2 consecutive frames
= 0.25, OFF after 3 consecutive frames < 0.18, state reset at episode boundaries.
Identical detector and thresholds to binmarker, so the two arms gate on the
exact same contact signal.
Contents
- 97 episodes / 18408 frames @ 10 Hz, LeRobot v2.1 format
image(224x224x3, agent view) andwrist_image(224x224x3) - overlay burned instate(8-dim: ee_pos_m, ee_axis_angle_rad, grasp, grasp)actions(7-dim world-frame deltas: dxyz_m, daxis_angle_rad, grasp in {-1,+1})
Same source recordings as every other overlay variant of this task - only the burned-in pixels differ.