| --- |
| license: cc-by-4.0 |
| task_categories: |
| - robotics |
| tags: |
| - robotics |
| - tactile |
| - manipulation |
| - multimodal |
| - gelsight |
| - realsense |
| - motion-capture |
| pretty_name: React (Tactile-Visual Manipulation) |
| size_categories: |
| - 10K<n<100K |
| configs: |
| - config_name: mode1_v1 |
| data_files: |
| - split: train |
| path: processed/mode1_v1/**/episode_*.pt |
| --- |
| |
| # React |
|
|
| Multimodal manipulation recordings from a bimanual setup with vision-based tactile sensors and motion capture. |
|
|
| ## Recording setup |
|
|
| | Stream | Hardware | Native shape | Rate | |
| |---|---|---|---| |
| | 3× RealSense color | Intel D415 (serials `143322063538`, `104122062574`, `217222066989`) | 480×640×3 uint8 (BGR) | 30 FPS | |
| | 3× RealSense depth | same | 480×640 uint16 (mm) | 30 FPS | |
| | 2× GelSight tactile | GelSight Mini (left / right) | 480×640×3 uint8 | ~25 FPS, resampled to camera ticks | |
| | 3× OptiTrack rigid bodies | `motherboard`, `sensor_left`, `sensor_right` | 7-vector (x, y, z, qx, qy, qz, qw) | ~120 Hz | |
|
|
| All streams share a common monotonic timestamp axis recorded under `timestamps`. Per-tracker OptiTrack streams carry their own higher-rate timestamps under `optitrack/<body>/timestamps`. |
|
|
| ## Tasks recorded |
|
|
| - **`motherboard`** — bimanual insertion / placement on a computer motherboard. |
|
|
| ## Repository layout |
|
|
| ``` |
| processed/ |
| └─ mode1_v1/ |
| ├─ 2026-03-23/ # 3 episodes (2,141 / 1,948 / 2,109 frames) |
| ├─ 2026-05-10/ # 12 episodes ( 763 – 10,476 frames each) |
| └─ 2026-05-11/ # 17 episodes ( 263 – 33,739 frames each) |
| ├─ episode_000.pt |
| ├─ episode_000.contact.json |
| ├─ episode_002.pt # episode_001 missing (corrupt at recording time) |
| └─ ... |
| ``` |
|
|
| The `processed/mode1_v1/` view is a **task-specific slice** of the underlying raw recordings, not the full sensor suite. It was produced by `twm/preprocess.py` + `twm/contact_index.py` from a private raw HDF5 mirror. |
|
|
| ## `processed/mode1_v1/` schema |
| |
| Each `episode_*.pt` is a Python dict loadable with `torch.load(..., weights_only=False)`. |
| |
| | Key | Shape | dtype | Description | |
| |---|---|---|---| |
| | `view` | `(T, 3, 128, 128)` | uint8 | Overhead camera (`realsense/cam0/color`), center-cropped to square then bilinear-resized to 128×128 | |
| | `tactile_left` | `(T, 3, 128, 128)` | uint8 | Left GelSight, same crop/resize | |
| | `tactile_right` | `(T, 3, 128, 128)` | uint8 | Right GelSight, same crop/resize | |
| | `timestamps` | `(T,)` | float64 | Camera timestamps (seconds, monotonic clock) | |
| | `sensor_left_pose` | `(T, 7)` | float32 | Left GelSight rigid body OptiTrack pose, nearest-neighbor aligned to camera timestamps | |
| | `sensor_right_pose` | `(T, 7)` | float32 | Right GelSight rigid body OptiTrack pose, same alignment | |
| | `tactile_{left,right}_intensity` | `(T,)` | float32 | Per-frame mean per-pixel L2 distance from a contact-free reference frame | |
| | `tactile_{left,right}_area` | `(T,)` | float32 | Per-frame fraction of pixels with L2 diff > `tau` | |
| | `tactile_{left,right}_mixed` | `(T,)` | float32 | Mean of (diff × mask), captures intensity restricted to contact pixels | |
| | `_contact_meta` | dict | — | Per-episode contact metadata: `tau`, drift between first/p01 reference frames, p01 reference indices, the chosen reference RGB frames, etc. | |
| |
| Each `.contact.json` is a small summary of the metric distributions plus drift diagnostics, intended for filtering / sanity checking without loading the full tensors. |
| |
| ### Contact metric definition |
| |
| For each tactile sensor independently: |
| |
| 1. Pick a contact-free **reference frame**: the ~0.1th-percentile-quietest frame by mean L2 distance to the temporal median (`reference_strategy = "p01"`). |
| 2. For each frame `t`, compute per-pixel `diff[t, x, y] = || frame[t, :, x, y] − ref[:, x, y] ||_2` (RGB L2 over channels). |
| 3. Then: |
| - `intensity[t] = mean(diff[t])` |
| - `area[t] = mean(diff[t] > tau)` (default `tau = 8.0` on the uint8 scale) |
| - `mixed[t] = mean(diff[t] * (diff[t] > tau))` |
|
|
| `_contact_meta["drift_warning"]` is `True` if either sensor's drift (L2 distance between the first frame and the p01-reference frame) exceeds `2·tau`; in this release no episode triggers it. |
|
|
| ## Quick start |
|
|
| ```python |
| import torch |
| from huggingface_hub import hf_hub_download |
| |
| path = hf_hub_download( |
| repo_id="yxma/React", |
| repo_type="dataset", |
| filename="processed/mode1_v1/2026-05-11/episode_000.pt", |
| ) |
| ep = torch.load(path, weights_only=False) |
| print(ep["view"].shape, ep["tactile_left_intensity"].shape) |
| # torch.Size([263, 3, 128, 128]) torch.Size([263]) |
| ``` |
|
|
| To load contact metadata only (much smaller — useful for filtering): |
|
|
| ```python |
| import json |
| path = hf_hub_download( |
| repo_id="yxma/React", |
| repo_type="dataset", |
| filename="processed/mode1_v1/2026-05-11/episode_000.contact.json", |
| ) |
| meta = json.load(open(path)) |
| print(meta["drift_left"], meta["drift_right"], meta["drift_warning"]) |
| ``` |
|
|
| ## Known caveats |
|
|
| - **Missing episode**: `2026-05-11/episode_001` was lost at recording time (HDF5 superblock never finalized when the writer was killed mid-write). It is intentionally absent. |
| - **Lossy resize**: the 128×128 `view` and tactile fields are downsampled from native 480×640. Native resolution is **not** preserved in this release. |
| - **Single camera**: only `realsense/cam0/color` is included. The other two RealSense views and all depth streams are not in `processed/mode1_v1/`. |
| - **OptiTrack alignment**: the per-step poses are nearest-neighbor matched to camera ticks. The full ~120 Hz pose streams are not preserved here. |
| - **Mode is opinionated**: contact metrics depend on the chosen `tau` and the p01 reference strategy. If you want a different `tau`, re-deriving from raw is necessary. |
|
|
| ## Roadmap |
|
|
| A **LeRobot-format full-fidelity** variant (`lerobot/v1.0/`) is planned. It will include all three RealSense color and depth streams, GelSight at native resolution (FFV1 lossless), full-rate OptiTrack pose tracks for all three rigid bodies, and HF-native browser previews. The current `processed/mode1_v1/` slice will remain as a stable training-task view. |
|
|
| ## Citation |
|
|
| If you use this dataset, please cite (TODO: add bibtex). |
|
|
