FEEL-Benchmark

A multimodal egocentric manipulation dataset combining Project Aria smart-glasses recordings (RGB video, eye gaze, hand tracking, IMU) with synchronized Paxini tactile-glove force readings. Released in LeRobot v3.0 format (GR00T path variant).

Overview

• 26 trials, 700 episodes, ~65.8 min of segmented manipulation, ~2.0 GB
• Recording dates: 2026-01-10, 2026-01-21, 2026-01-28, 2026-04-30, 2026-05-06
• Camera: Project Aria RGB (1408×1408, 10 fps, H.264)
• Tactile: bilateral force totals (action.tactile.left.force_total, action.tactile.right.force_total)
• Hand pose: Aria MPS hand tracking (left + right, validity flags, confidence)
• Gaze: Aria MPS general eye gaze (yaw/pitch + depth)
• Mean episode length: 5.6 s (39,497 frames @ 10 fps)

Dataset statistics

By recording date

Date	Trials	Episodes	Frames	Duration (min)
2026-01-10	3	42	3,565	5.9
2026-01-21	7	137	11,106	18.5
2026-01-28	5	132	8,481	14.1
2026-04-30	2	82	4,761	7.9
2026-05-06	9	307	11,584	19.3
Total	26	700	39,497	65.8

By object category

Category	Trials	Episodes	Frames	Duration (min)
Bottle	5	237	10,811	18.0
Jelly	6	115	10,232	17.1
Sponge	3	107	6,548	10.9
Water	4	70	4,860	8.1
Wangzai	4	116	4,294	7.2
Coke	2	19	1,512	2.5
Chip	2	36	1,240	2.1

The Bottle category includes a fill-level gradient (Empty_bottle_1, P25_bottle, P50_bottle, P75_bottle, Full_bottle_1) for studying tactile cues of liquid mass and slosh.

Layout

Datasets are grouped by recording session date. Trial names encode the manipulation outcome where relevant (e.g. Chip_intact = potato chip not crushed, Chip_crushed = chip crushed during grasp).

FeelAuthors/FEEL-Benchmark/
├── 20260110/  Jelly_1, Jelly_2, Jelly_3                                                  (3 trials)
├── 20260121/  Half_coke_2, Half_water_1, Jelly_{5,6,7}, Quarter_coke_0, Quarter_water_2  (7 trials)
├── 20260128/  Half_water_{3,4}, Sponge_{1,2,3}                                           (5 trials)
├── 20260430/  Empty_bottle_1, Full_bottle_1                                              (2 trials)
└── 20260506/  Chip_intact, Chip_crushed, Empty_Want_Milk, Empty_wz, P25_bottle,
              P50_bottle, P75_bottle, Want_Milk, Wz                                       (9 trials)

Each *_lerobot/ directory follows LeRobot v3.0:

<trial>_lerobot/
├── meta/
│   ├── info.json          # feature schema, fps, episode counts
│   ├── episodes.jsonl     # per-episode metadata
│   ├── stats.json
│   └── tasks.jsonl
├── data/chunk-000/episode_NNNNNN.parquet
└── videos/chunk-000/observation.images.main/episode_NNNNNN.mp4

Feature schema

Each row in episode_*.parquet:

Field	dtype	shape	Notes
index	int64	(1,)	Global frame index
episode_index	int64	(1,)
frame_index	int64	(1,)	Per-episode frame index
timestamp / timestamp_ns	float64/int		Aria device clock
observation.state	float32	(7,)	Right-hand pose state
action	float32	(2,)	Action vector
status.hands.valid_right	bool	(1,)	Hand-tracking validity
action.tactile.left.force_total	float32	(1,)	Total force, left glove (N)
action.tactile.right.force_total	float32	(1,)	Total force, right glove (N)
observation.images.main	video	1408×1408×3	Aria RGB stream

Path format note

Each meta/info.json declares "path_format": "groot". The data_path and video_path templates match standard LeRobot v3.0 (data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet), so the dataset is consumable by both stock LeRobot tooling and NVIDIA Isaac GR00T loaders.

Sensors

• Project Aria (RGB, eye-tracking cameras, SLAM cameras, IMUs) with MPS post-processing for gaze + hand tracking
• Paxini tactile glove for force feedback (totals exported per side; raw per-taxel data not included in this release)

Loading

from datasets import load_dataset
ds = load_dataset("FeelAuthors/FEEL-Benchmark",
                  data_files="20260506/P25_bottle_lerobot/data/chunk-000/*.parquet")

Or with LeRobot tooling, point a LeRobotDataset at a single trial directory.

License

CC BY 4.0.

Citation

@misc{feel_benchmark_2026,
  title  = {FEEL-Benchmark: Egocentric Tactile-Visual Manipulation Dataset},
  author = {FeelAuthors},
  year   = {2026},
  url    = {https://huggingface.co/datasets/FeelAuthors/FEEL-Benchmark}
}