xarm_cube_points9_arrow_len0

xArm7 phone-teleop dataset for cube ("pick up the cube") with the points9_arrow_len0 tactile overlay burned into the camera frames: 9 dots per gripper finger drawn at their real 3D tactile-pad positions (forward kinematics, projected through camera intrinsics), with force arrows rendered at zero length (arrow_length_scale=0).

This is the force-ablation control for the points9_arrow variant: identical dot positions and visual salience, but zero force information in the pixels (verified byte-exact: a zero-force frame and a max-force frame render identically).

Contents

• 100 episodes / 13103 frames @ 10 Hz, LeRobot v2.1 format
• image (224x224x3, agent view) and wrist_image (224x224x3) — overlay burned in
• state (8-dim: ee_pos_m, ee_axis_angle_rad, grasp, grasp)
• actions (7-dim world-frame deltas: dxyz_m, daxis_angle_rad, grasp in {-1,+1})

Provenance

Raw teleop zarr (RealSense cameras + 2x A31301 3x3 tactile arrays) -> tactile-data-collection/scripts/render_arrowlen0.py (points9_arrow mode, arrow_length_scale=0) -> tactile-openpi/examples/xarm/convert_zarr_to_lerobot.py --mode points9_arrow_len0. Same source recording as every other overlay variant of this task — only the burned-in pixels differ.

Paired model

Trained pi0.5 LoRA checkpoint: EdwardoSunny/pi05_xarm_cube_points9_arrow_len0_lora