Alanhe-oooh/FoAR-OXT

FoAR OXT

FoAR robot demonstrations converted to FTP-1 Zarr for the Open-X-Tactile project. See FTP-1 format instructions.

Subset	Trajectories	Frames	Instruction
chop	40	10,299	chop the pepper.
peel	51	9,045	peel the cucumber
wipe_general	50	15,397	wipe the whiteboard
Total	141	34,741	Three tasks

Files and loading

Each task directory contains <task>.zarr.zip, a ZIP64 archive with one <task>.zarr/ directory. Download, verify against SHA256SUMS, and extract into a common zarr/ directory. The stores use Zarr format 2. Zarr 3.1.6 was used to read and validate them.

import zarr
root = zarr.open_group('zarr/chop.zarr', mode='r')
print(root.tree())
rgb = root['data/camera_main_rgb'][0]
wrench = root['data/right_tactile_data_wrist'][0, 0]
episode_ends = root['meta/episode_ends'][:]

The RGB stream is 720 x 1280 uint8. Timestamps are milliseconds and irregularly spaced; use actual timestamps rather than assuming a fixed FPS. Other fields include seven arm joints, a six-dimensional TCP pose (xyz plus rotation vector), one gripper-command scalar, and one six-component wrist force/torque vector. Constant identifiers are hand slot 28, tactile area 15, sensor ATIAxia80M20, and tactile type state. Episodes are concatenated with exclusive cumulative boundaries in meta/episode_ends. All included demonstrations are from the source train folders; no separate evaluation split is defined.

Conversion and limitations

RGB timestamps are matched to the nearest high-frequency row. Camera frames after episode finish_time are excluded. Force/torque uses source columns 0:6 without additional filtering. Gripper values are commands scaled by /1000*0.095, not measured feedback. Pose conversion interprets source quaternions as XYZW and does not perform additional frame transforms.

Timestamp gaps are inherited from source images. Metadata QC has no failed structural checks but retains gap warnings. Maximum nearest-sensor offset is 214 ms for chop, 176 ms for peel and 241 ms for wipe_general; respectively 15, 6 and 28 frames exceed 100 ms. No exported frame is outside sensor time coverage. Most matches are close: the 95th percentile is 5 ms in all tasks.

The maintainer confirms wrench order [Fx,Fy,Fz,Tx,Ty,Tz], with force in N and torque in N*m in the sensor frame; TCP translation is in metres in the robot base frame and the source quaternion is XYZW. No additional tool-to-wrist transform is applied. VLM API review was not run; preparation of manual materials is not equivalent to completed review. See the organizer package for review status and provenance.

Maintainer and license

Data maintainer: Zihao He — alanheoooh@gmail.com. Submitting institution: Shanghai Jiao Tong University.

Dataset license: Apache License 2.0, as selected by the data maintainer. Third-party institution and sensor images in the organizer materials retain their respective owners' rights and are not relicensed by this dataset.

Reference

FoAR: Force-Aware Reactive Policy for Contact-Rich Robotic Manipulation, Zihao He, Hongjie Fang, Jingjing Chen, Hao-Shu Fang, Cewu Lu. IEEE Robotics and Automation Letters, 10(6), 5625–5632, 2025. DOI: 10.1109/LRA.2025.3560871. Code.