ManipForce data

A mirror of the six task archives released by the authors of ManipForce, exactly as published (byte sizes verified against the authors' Google Drive listing, 2026-10-29). Nothing inside the zips was modified.

• Paper: ManipForce: Force-Guided Policy Learning with Frequency-Aware Representation for Contact-Rich Manipulation (Lee, Lee, Kim, Lee, Noh, Back, Lee; ICRA 2026)
• Project page: https://sites.google.com/view/manipforce
• Code: https://github.com/gist-ailab/ManipForce
• Original download listing: https://umi-data.github.io (Google Drive)

Layout

One zip per task. Each zip unpacks to a single zarr directory store <Task>.zarr/ (Battery_Insertion.zip unpacks to Battery_assembly.zarr/), readable with zarr.open("<Task>.zarr", mode="r"):

• data/handeye_cam_1, data/handeye_cam_2: the two hand-eye RealSense streams of the hand-held gripper
• data/state, data/pose_wrt_start: TCP pose relative to the first frame of the episode
• data/action: frame-to-frame delta pose in the TCP frame plus the binary open/close flag
• data/ft_data, data/ft_timestamps: AIDIN AFT200 wrist force/torque samples (gravity compensated)
• data/img_timestamps: wall-clock frame timestamps
• meta/episode_ends, meta/episode_img_ends, meta/episode_ft_ends: episode boundaries of each stream

Contents

zip	task	GB
Battery_Insertion.zip	Battery Insertion	46.9
Battery_disassembly.zip	Battery Disassembly	42.7
Box_flipping.zip	Box Flipping	21.6
Gear_assembly.zip	Gear Assembly	29.3
LAN_insertion.zip	LAN Plug Insertion	44.6
Open_lid.zip	Open Lid	40.8
total	6 tasks	225.9

License

MIT, the license stated for the dataset on the authors' listing (https://umi-data.github.io).

Citation

@inproceedings{lee2026manipforce,
  title     = {ManipForce: Force-Guided Policy Learning with Frequency-Aware Representation for Contact-Rich Manipulation},
  author    = {Lee, Geonhyup and Lee, Yeongjin and Kim, Kangmin and Lee, Seongju and Noh, Sangjun and Back, Seunghyeok and Lee, Kyoobin},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
  year      = {2026},
  url       = {https://arxiv.org/abs/2509.19047}
}