Datasets:
RSS dual-arm tactile manipulation
This repository holds data for the RSS project. It contains teleoperated demonstrations, and later policy rollouts, recorded on this rig:
- two UFACTORY xArm6 arms, each with a BrainCo Revo2 hand;
- a Tujian tactile glove worn on each robot hand;
- a static head camera and one camera on each wrist.
All new dual-arm data for this project is uploaded here.
Contents
| Folder | What | Notes |
|---|---|---|
task4_dual_arm_tube_pour_20261005/ |
50 successful dual-arm tube-pour teleoperation trajectories, recorded 2026-10-05 | Byte-identical copy of the release in SingleBicycle/tacwam-wetlab-tasks, revision 5bfdc365. Its own README is the data card. Its download examples still name the original repo id. |
task4_dual_arm_tube_pour_fail_cases_20261005/ |
Two failed tube-pour teleoperation trials from the same day: videos (head + both wrists), stills and a README describing each failure | |
task4_dual_arm_tube_pour_20261022/ |
50 more successful dual-arm tube-pour teleoperation trajectories (batch 2), recorded 2026-10-21 and 2026-10-22 with the mesh-based two-arm collision guard | Identical to the folder of the same name in SingleBicycle/tacwam-wetlab-tasks. Its own README is the data card. All 50 are train. |
task4_dual_arm_tube_pour_20261022_failures/ |
7 failed or aborted batch-2 tube-pour attempts with complete recordings, in the same package format | Not for training. Its README gives the label and reason for each. |
Tasks
| Task | Status |
|---|---|
| Tube pour: the right hand pours a 50 mL tube into a funnel tube held by the left hand | 100 done (batch 1 + batch 2) |
| Pipette: one hand holds a tube, the other transfers liquid with a manual pipette (Finnpipette) | planned |
| Cap: twist a cap off a bottle held by the other hand, and back on | planned |
| Hold and wipe: one hand holds a beaker, the other wipes a mark off its wall | planned |
| Cloth folding, using the task definition of the EgoScale project | planned |
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