| --- |
| 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) and `wrist_image` (224x224x3) - overlay burned in |
| - `state` (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. |
|
|
| ## Paired model |
|
|
| [EdwardoSunny/pi05_xarm_tube_binmarker9_lora](https://huggingface.co/EdwardoSunny/pi05_xarm_tube_binmarker9_lora) |
|
|
