xArm tactile: points9_arrow_len0 ablation
Collection
Zero-length-arrow tactile overlay ablation: paired LeRobot dataset + pi0.5 LoRA checkpoint for 4 xArm tasks. • 8 items • Updated
Datasets:
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image imagewidth (px) 224 224 | wrist_image imagewidth (px) 224 224 | state list | actions list | timestamp float32 0 55.3 | frame_index int64 0 553 | episode_index int64 0 99 | index int64 0 28.1k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
xarm_dishwasher_points9_arrow_len0
xArm7 phone-teleop dataset for dishwasher ("pull the basket outside of the dishwasher and pick up the mug and put it into the basket") with the points9_arrow_len0
tactile overlay burned into the camera frames: 9 dots per gripper finger drawn at their
real 3D tactile-pad positions (forward kinematics, projected through camera intrinsics),
with force arrows rendered at zero length (arrow_length_scale=0).
This is the force-ablation control for the points9_arrow variant: identical dot positions and visual salience, but zero force information in the pixels (verified byte-exact: a zero-force frame and a max-force frame render identically).
Contents
- 100 episodes / 28096 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})
Provenance
Raw teleop zarr (RealSense cameras + 2x A31301 3x3 tactile arrays)
-> tactile-data-collection/scripts/render_arrowlen0.py (points9_arrow mode, arrow_length_scale=0)
-> tactile-openpi/examples/xarm/convert_zarr_to_lerobot.py --mode points9_arrow_len0.
Same source recording as every other overlay variant of this task — only the burned-in pixels differ.
Paired model
Trained pi0.5 LoRA checkpoint: EdwardoSunny/pi05_xarm_dishwasher_points9_arrow_len0_lora
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