easyminnn/vla-touch-lerobot

VLA-Touch (LeRobot v2.0)

380 Franka + GelSight episodes across 3 contact-rich tasks (mango, watercup, wipe), converted to LeRobot v2.0.

Part of a set of tactile manipulation datasets converted to a single common LeRobot v2.0 layout so they can be mixed in one training run.

At a glance

Episodes	380
Frames	27,892 (10 fps)
Tasks	3 — mango, watercup, wipe
Video	ego_view 640×480 · tactile_left 320×240 (GelSight)
Action	7-D per-step EE delta + gripper (FreeTacMan layout)
Tactile type	image — usable with a frozen image tactile tokenizer

Notes

• Gripper semantics were inverted on purpose. The source gripper_pos is an integer closure count in [40, 207] where higher means tighter (correlates +0.81…0.90 with GelSight marker displacement). This conversion stores 1 − (raw − min)/(max − min) so that higher means more open, matching the absolute-width gripper slot used by the rest of this collection. The raw value is preserved in observation.state[-1].
• Frame rate verified as 10 fps: dq/dt from joint_positions vs joint_velocities is 100 ms across all three tasks.

Format

GR00T-flavoured LeRobot v2.0: per-episode Parquet under data/chunk-{:03d}/ and per-episode MP4 under videos/chunk-{:03d}/{video_key}/, with meta/info.json, meta/episodes.jsonl, meta/tasks.jsonl and meta/modality.json.

from datasets import load_dataset          # metadata / parquet only
# or read directly:
import pyarrow.parquet as pq, json
info = json.load(open("meta/info.json"))
tbl  = pq.read_table("data/chunk-000/episode_000000.parquet")

meta/modality.json names the tactile stream and the state/action slot layout, so the dataset can be loaded by an Isaac-GR00T style loader without extra configuration.

Provenance & license

This is a format conversion of AllenBi21/VLA-Touch (https://huggingface.co/datasets/AllenBi21/VLA-Touch). All sensor data originates from the authors of that dataset; please cite their work. No frames were dropped or re-timed beyond what is listed under Conversion above.

License note. The upstream repository does not state a license. This conversion is redistributed for research use on the assumption that the authors intend open research access; if you are an author and would like it taken down or relicensed, please open a discussion on this repo.