sotac2

Shared processed dataset for the SoTac-2 collections (SO-101 + Paxini DP-S2015 fingertips, LeRobot v3.0).

Contents

Episodes 0-99: weigh-and-sort collection, recorded 2026-10-19/20 on the 5090 rig (source working repo: shi-tang/sotac2_weigh_sort). Episodes 0-49 fixed start marks, 50-99 varied marks 1-10 (marks 11-12 held out for eval). One task string across all episodes. Cleaned from the working repo: stale episode metadata from crashed takes removed, trailing no-contact episode dropped, stats re-aggregated.

• observation.state[318] = 6 joints + 2 x 52 x 3 tactile (fixed jaw, slot 10, first), 30 Hz
• 4 cameras 640x480 @ 30 fps: side_left, side_right, wrist, ego
• meta/rig_settings/: per-session camera controls, record command, calibration snapshot
• Raw magnetics sidecars are NOT in this repo (see the matching _raw repo)

Merge policy: new collections append after episode 99; never re-merge or reorder.