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Datasets:
armteam
/
hapticwam-rig-episodes

Tags:
robotics
manipulation
tactile
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The dataset viewer is not available for this split.
Cannot load the dataset split (in streaming mode) to extract the first rows.
Error code:   StreamingRowsError
Exception:    CastError
Message:      Couldn't cast
wrist_guard: struct<mode: string, capture_t_s: double, initial_reference: list<item: double>, valid: bool, error: (... 293 chars omitted)
  child 0, mode: string
  child 1, capture_t_s: double
  child 2, initial_reference: list<item: double>
      child 0, item: double
  child 3, valid: bool
  child 4, error: string
  child 5, checked_at_s: double
  child 6, sample_t_s: double
  child 7, measured_wrench: list<item: double>
      child 0, item: double
  child 8, reference_before: list<item: double>
      child 0, item: double
  child 9, reference_after: list<item: double>
      child 0, item: double
  child 10, deviation: list<item: double>
      child 0, item: double
  child 11, force_deviation_n: double
  child 12, torque_deviation_nm: double
  child 13, over_since_s: null
  child 14, baseline_adapted: bool
t: double
latency_s: double
gate: double
p_evt: list<item: double>
  child 0, item: double
sigma: list<item: double>
  child 0, item: double
accepted: bool
actions: list<item: list<item: double>>
  child 0, item: list<item: double>
      child 0, item: double
tcp_pose: list<item: double>
  child 0, item: double
terminal_veto: null
diag: struct<policy: string, policy_class: string, action_space: string, chunk_steps: int64, padded_steps: (... 95 chars omitted)
  child 0, policy: string
  child 1, policy_class: string
  child 2, action_space: string
  child 3, chunk_steps: int64
  child 4, padded_steps: int64
  child 5, nfe: int64
  child 6, nfe_applied: bool
  child 7, deno
...
5, wrench_debounce_ticks: int64
      child 16, tactile_fz_limit_N: double
      child 17, stale_plan_timeout_s: double
  child 7, max_play_steps: int64
  child 8, min_replan_s: double
  child 9, record_tail_s: double
  child 10, home_bounds: struct<y_max: double, z_min: double>
      child 0, y_max: double
      child 1, z_min: double
  child 11, grip_play_steps: int64
  child 12, grip_latch: bool
  child 13, select_by: string
  child 14, agreement_shadow: bool
tags: list<item: string>
  child 0, item: string
notes: string
clock_calibration: struct<offset: double, n_samples: int64, spread_s: double>
  child 0, offset: double
  child 1, n_samples: int64
  child 2, spread_s: double
dagger_round: int64
config_hash: string
weight: double
operator: string
success: bool
hardware_shapes: struct<field: list<item: int64>, field_ch: int64, keyframe_ds: list<item: int64>, n_fingers: int64,  (... 182 chars omitted)
  child 0, field: list<item: int64>
      child 0, item: int64
  child 1, field_ch: int64
  child 2, keyframe_ds: list<item: int64>
      child 0, item: int64
  child 3, n_fingers: int64
  child 4, wrench_dim: int64
  child 5, wrist_ft_dim: int64
  child 6, wrist_window_len: int64
  child 7, ur_state_dim: int64
  child 8, contact_state_dim: int64
  child 9, action_dim: int64
  child 10, chunk_horizon: int64
  child 11, cpk_shape: list<item: int64>
      child 0, item: int64
driver_modes: struct<drivers: string>
  child 0, drivers: string
task: string
text: string
damage: bool
to
{'task': Value('string'), 'text': Value('string'), 'operator': Value('string'), 'tags': List(Value('string')), 'policy': Value('string'), 'dagger_round': Value('int64'), 'success': Value('bool'), 'damage': Value('bool'), 'notes': Value('string'), 'driver_modes': {'drivers': Value('string')}, 'clock_calibration': {'offset': Value('float64'), 'n_samples': Value('int64'), 'spread_s': Value('float64')}, 'config_hash': Value('string'), 'hardware_shapes': {'field': List(Value('int64')), 'field_ch': Value('int64'), 'keyframe_ds': List(Value('int64')), 'n_fingers': Value('int64'), 'wrench_dim': Value('int64'), 'wrist_ft_dim': Value('int64'), 'wrist_window_len': Value('int64'), 'ur_state_dim': Value('int64'), 'contact_state_dim': Value('int64'), 'action_dim': Value('int64'), 'chunk_horizon': Value('int64'), 'cpk_shape': List(Value('int64'))}, 'deploy_overrides': {'servo_reach_profile': {'id': Value('string'), 'effective_limits': {'elbow_min_rad': Value('float64'), 'servo_joint_speed_max_rad_s': Value('float64'), 'servo_constraint_hold_s': Value('float64')}}, 'hitbox_m': {'x': List(Value('float64')), 'y': List(Value('float64')), 'z': List(Value('float64')), 'margin_m': Value('float64')}, 'z_floor_m': Value('float64'), 'grip_latch_release_s': Value('float64'), 'placement_descent': {'enabled': Value('bool'), 'release_z_m': Value('float64'), 'task': Value('string'), 'release_y_min_m': Value('float64'), 'y_crate_edge_m': Value('float64'), 'release_gate_z_m': Value('float64'), 'lift_m': Value('float64'), 'dwell_s': Value('float64'), 'open_hold_s': Value('float64'), 'retract_m': Value('float64'), 'retract_speed_m_s': Value('float64'), 'z_tolerance_m': Value('float64'), 'max_retract_s': Value('float64'), 'variant': Value('string'), 'config_sha256': Value('string')}, 'ckpt_sha': Value('string'), 'safety_effective': {'wrist_extension_stop_m': Value('float64'), 'joint_speed_stop_rad_s': Value('float64'), 'reach_clamp_m': Value('float64'), 'lift_complete_z_m': Value('float64'), 'lift_complete_fz_n': Value('float64'), 'lift_complete_hold_s': Value('float64'), 'lift_complete_window_s': Value('float64'), 'grip_latch_fz_n': Value('float64'), 'elbow_min_rad': Value('float64'), 'servo_joint_speed_max_rad_s': Value('float64'), 'servo_constraint_hold_s': Value('float64'), 'wrench_limit_N': Value('float64'), 'wrench_limit_Nm': Value('float64'), 'wrench_baseline_mode': Value('string'), 'wrench_baseline_tau_s': Value('float64'), 'wrench_debounce_ticks': Value('int64'), 'tactile_fz_limit_N': Value('float64'), 'stale_plan_timeout_s': Value('float64')}, 'max_play_steps': Value('int64'), 'min_replan_s': Value('float64'), 'record_tail_s': Value('float64'), 'home_bounds': {'y_max': Value('float64'), 'z_min': Value('float64')}, 'grip_play_steps': Value('int64'), 'grip_latch': Value('bool'), 'select_by': Value('string'), 'agreement_shadow': Value('bool')}, 'status': Value('string'), 'weight': Value('float64')}
because column names don't match
Traceback:    Traceback (most recent call last):
                File "/src/services/worker/src/worker/utils.py", line 147, in get_rows_or_raise
                  return get_rows(
                      dataset=dataset,
                  ...<4 lines>...
                      column_names=column_names,
                  )
                File "/src/libs/libcommon/src/libcommon/utils.py", line 272, in decorator
                  return func(*args, **kwargs)
                File "/src/services/worker/src/worker/utils.py", line 127, in get_rows
                  rows_plus_one = list(itertools.islice(safe_iter(ds, dataset=dataset), rows_max_number + 1))
                File "/src/services/worker/src/worker/utils.py", line 483, in safe_iter
                  yield from ds.decode(False) if ds.features else ds
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2840, in __iter__
                  for key, example in ex_iterable:
                                      ^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2373, in __iter__
                  for key, pa_table in self._iter_arrow():
                                       ~~~~~~~~~~~~~~~~^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2398, in _iter_arrow
                  for key, pa_table in self.ex_iterable._iter_arrow():
                                       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 536, in _iter_arrow
                  for key, pa_table in iterator:
                                       ^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 419, in _iter_arrow
                  for key, pa_table in self.generate_tables_fn(**gen_kwags):
                                       ~~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 343, in _generate_tables
                  self._cast_table(pa_table, json_field_paths=json_field_paths),
                  ~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 132, in _cast_table
                  pa_table = table_cast(pa_table, self.info.features.arrow_schema)
                File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2378, in table_cast
                  return cast_table_to_schema(table, schema)
                File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2306, in cast_table_to_schema
                  raise CastError(
                  ...<3 lines>...
                  )
              datasets.table.CastError: Couldn't cast
              wrist_guard: struct<mode: string, capture_t_s: double, initial_reference: list<item: double>, valid: bool, error: (... 293 chars omitted)
                child 0, mode: string
                child 1, capture_t_s: double
                child 2, initial_reference: list<item: double>
                    child 0, item: double
                child 3, valid: bool
                child 4, error: string
                child 5, checked_at_s: double
                child 6, sample_t_s: double
                child 7, measured_wrench: list<item: double>
                    child 0, item: double
                child 8, reference_before: list<item: double>
                    child 0, item: double
                child 9, reference_after: list<item: double>
                    child 0, item: double
                child 10, deviation: list<item: double>
                    child 0, item: double
                child 11, force_deviation_n: double
                child 12, torque_deviation_nm: double
                child 13, over_since_s: null
                child 14, baseline_adapted: bool
              t: double
              latency_s: double
              gate: double
              p_evt: list<item: double>
                child 0, item: double
              sigma: list<item: double>
                child 0, item: double
              accepted: bool
              actions: list<item: list<item: double>>
                child 0, item: list<item: double>
                    child 0, item: double
              tcp_pose: list<item: double>
                child 0, item: double
              terminal_veto: null
              diag: struct<policy: string, policy_class: string, action_space: string, chunk_steps: int64, padded_steps: (... 95 chars omitted)
                child 0, policy: string
                child 1, policy_class: string
                child 2, action_space: string
                child 3, chunk_steps: int64
                child 4, padded_steps: int64
                child 5, nfe: int64
                child 6, nfe_applied: bool
                child 7, deno
              ...
              5, wrench_debounce_ticks: int64
                    child 16, tactile_fz_limit_N: double
                    child 17, stale_plan_timeout_s: double
                child 7, max_play_steps: int64
                child 8, min_replan_s: double
                child 9, record_tail_s: double
                child 10, home_bounds: struct<y_max: double, z_min: double>
                    child 0, y_max: double
                    child 1, z_min: double
                child 11, grip_play_steps: int64
                child 12, grip_latch: bool
                child 13, select_by: string
                child 14, agreement_shadow: bool
              tags: list<item: string>
                child 0, item: string
              notes: string
              clock_calibration: struct<offset: double, n_samples: int64, spread_s: double>
                child 0, offset: double
                child 1, n_samples: int64
                child 2, spread_s: double
              dagger_round: int64
              config_hash: string
              weight: double
              operator: string
              success: bool
              hardware_shapes: struct<field: list<item: int64>, field_ch: int64, keyframe_ds: list<item: int64>, n_fingers: int64,  (... 182 chars omitted)
                child 0, field: list<item: int64>
                    child 0, item: int64
                child 1, field_ch: int64
                child 2, keyframe_ds: list<item: int64>
                    child 0, item: int64
                child 3, n_fingers: int64
                child 4, wrench_dim: int64
                child 5, wrist_ft_dim: int64
                child 6, wrist_window_len: int64
                child 7, ur_state_dim: int64
                child 8, contact_state_dim: int64
                child 9, action_dim: int64
                child 10, chunk_horizon: int64
                child 11, cpk_shape: list<item: int64>
                    child 0, item: int64
              driver_modes: struct<drivers: string>
                child 0, drivers: string
              task: string
              text: string
              damage: bool
              to
              {'task': Value('string'), 'text': Value('string'), 'operator': Value('string'), 'tags': List(Value('string')), 'policy': Value('string'), 'dagger_round': Value('int64'), 'success': Value('bool'), 'damage': Value('bool'), 'notes': Value('string'), 'driver_modes': {'drivers': Value('string')}, 'clock_calibration': {'offset': Value('float64'), 'n_samples': Value('int64'), 'spread_s': Value('float64')}, 'config_hash': Value('string'), 'hardware_shapes': {'field': List(Value('int64')), 'field_ch': Value('int64'), 'keyframe_ds': List(Value('int64')), 'n_fingers': Value('int64'), 'wrench_dim': Value('int64'), 'wrist_ft_dim': Value('int64'), 'wrist_window_len': Value('int64'), 'ur_state_dim': Value('int64'), 'contact_state_dim': Value('int64'), 'action_dim': Value('int64'), 'chunk_horizon': Value('int64'), 'cpk_shape': List(Value('int64'))}, 'deploy_overrides': {'servo_reach_profile': {'id': Value('string'), 'effective_limits': {'elbow_min_rad': Value('float64'), 'servo_joint_speed_max_rad_s': Value('float64'), 'servo_constraint_hold_s': Value('float64')}}, 'hitbox_m': {'x': List(Value('float64')), 'y': List(Value('float64')), 'z': List(Value('float64')), 'margin_m': Value('float64')}, 'z_floor_m': Value('float64'), 'grip_latch_release_s': Value('float64'), 'placement_descent': {'enabled': Value('bool'), 'release_z_m': Value('float64'), 'task': Value('string'), 'release_y_min_m': Value('float64'), 'y_crate_edge_m': Value('float64'), 'release_gate_z_m': Value('float64'), 'lift_m': Value('float64'), 'dwell_s': Value('float64'), 'open_hold_s': Value('float64'), 'retract_m': Value('float64'), 'retract_speed_m_s': Value('float64'), 'z_tolerance_m': Value('float64'), 'max_retract_s': Value('float64'), 'variant': Value('string'), 'config_sha256': Value('string')}, 'ckpt_sha': Value('string'), 'safety_effective': {'wrist_extension_stop_m': Value('float64'), 'joint_speed_stop_rad_s': Value('float64'), 'reach_clamp_m': Value('float64'), 'lift_complete_z_m': Value('float64'), 'lift_complete_fz_n': Value('float64'), 'lift_complete_hold_s': Value('float64'), 'lift_complete_window_s': Value('float64'), 'grip_latch_fz_n': Value('float64'), 'elbow_min_rad': Value('float64'), 'servo_joint_speed_max_rad_s': Value('float64'), 'servo_constraint_hold_s': Value('float64'), 'wrench_limit_N': Value('float64'), 'wrench_limit_Nm': Value('float64'), 'wrench_baseline_mode': Value('string'), 'wrench_baseline_tau_s': Value('float64'), 'wrench_debounce_ticks': Value('int64'), 'tactile_fz_limit_N': Value('float64'), 'stale_plan_timeout_s': Value('float64')}, 'max_play_steps': Value('int64'), 'min_replan_s': Value('float64'), 'record_tail_s': Value('float64'), 'home_bounds': {'y_max': Value('float64'), 'z_min': Value('float64')}, 'grip_play_steps': Value('int64'), 'grip_latch': Value('bool'), 'select_by': Value('string'), 'agreement_shadow': Value('bool')}, 'status': Value('string'), 'weight': Value('float64')}
              because column names don't match

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HapticWAM — closed-loop rig episodes

Recorded rollouts from the physical rig for HapticWAM (Haptic World-Action Model), the tactile world-action model built on Cosmos-Predict2.5-2B: a tactile-conditioned teacher whose imagined contact future is distilled into a pad-free student. Rig: UR3 CB3 over RTDE + Robotiq 2F-85 with Daimon DM-Tac W2L fingertip pads + RealSense scene camera. These are the deployment takes behind the 2026-09-16 closed-loop evaluation (teacher, pad-free student, pi0.5 and Diffusion Policy baselines).

Renamed from armteam/phantom-rig-20260915 on 2026-09-19, when the project's working name PHANTOM became HapticWAM. The old id still redirects. The Python package and CLI keep the name phantom, so checkpoint names, config keys and run names are unchanged.

Layout

Path What
20260915_experiment/ the analysis set — the takes the reported numbers are computed from
20260915_experiment_extra/ additional takes recorded in the same sessions, outside the analysis set
20260915_experiment_superseded/ takes replaced by a later re-run; kept for provenance

One directory per episode, named ep_<arm>_<task>_<epoch>_<idx>, where <arm> identifies the policy under test. Tactile is recorded in every mode, including the pad-free student runs, so the student's takes can be scored against contact it never saw.

Episode format

Each episode directory holds one zarr group per stream (a data array plus a ts array of master-clock timestamps) and a meta.json: camera_scene_color, tactile_left, tactile_right, arm (q, qd, tcp_pose, tcp_speed, ft), gripper, actions, actions_abs. The same format as armteam/hapticwam-teleop-raw, which documents the streams and rates in full.

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