xArm tactile: binmarker ablation
Collection
Binary-contact fixed-length arrow overlay (LIBERO binbars port): paired LeRobot dataset + pi0.5 LoRA per task. • 8 items • Updated
Datasets:
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image imagewidth (px) 224 224 | wrist_image imagewidth (px) 224 224 | state list | actions list | timestamp float32 0 32.8 | frame_index int64 0 328 | episode_index int64 0 99 | index int64 0 23.8k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
xarm_charger_binmarker
xArm7 phone-teleop dataset for charger ("pick up the charger and plug it into the nearest plug") with the binmarker
tactile overlay burned into the camera frames: one arrow per gripper finger
(anchored at the finger center pad via forward kinematics) with fixed length
AND fixed direction (the sensor-frame pad normal — a rigid "flag" on the
finger), drawn iff that finger's binary contact state is ON. Ported from
LIBERO_contact_overlay's
binbars style, presented spatially.
The overlay carries only the per-finger contact bit — NO force magnitude and NO force direction. Pure binary-contact ablation rung between points9_arrow_len0 (positions only) and points9_arrow (full force field).
Contact detection (how the threshold was tuned)
Per-finger binary contact from the 3x3x3-axis tactile array:
- Normalization offset = median over known-idle frames (first 10 frames of each episode, post-homing, gripper open). The naive whole-dataset median is contact-polluted on tasks that spend most frames in contact (charger: 60% closed frames made idle read as a fake magnitude of ~1.2).
- Metric = max over the 9 cells of the normalized cell-vector L2 norm ("max-cell"). The cell-sum alternative cannot separate charger idle noise (p99.5 = 0.45) from real light holds (0.5 on tube/dishwasher's weaker finger). Max-cell: idle p99.5 <= 0.24 on every task, real contacts >= ~0.3.
- Hysteresis + debounce (Schmitt trigger): ON after 2 consecutive frames
= 0.25, OFF after 3 consecutive frames < 0.18, state reset at episode boundaries. Light-but-real holds (dips to 0.23) stay latched; single-frame noise spikes never trigger.
Validated on all 400 episodes (zero idle false positives in every post-homing window) and visually verified on 5 episodes per task (timelines + frame montages at approach / contact onset / mid-hold / post-release), plus a final spot check on the converted LeRobot frames: no arrows during approach, arrows at contact onset, latched through holds, cleared within <=3 frames of release, and honest negatives (gripper closed around nothing draws nothing).
Contents
- 100 episodes / 23808 frames @ 10 Hz, LeRobot v2.1 format
image(224x224x3, agent view) andwrist_image(224x224x3) — overlay burned instate(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})
Same source recordings as every other overlay variant of this task — only the burned-in pixels differ.
Paired model
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