---
license: mit
tags:
- LeRobot
- robotics
- tactile
- xarm
task_categories:
- robotics
---

# xarm_tube_binmarker

xArm7 phone-teleop dataset for **tube** (`"pick up the tube and put it in the nearest slot"`) 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](https://github.com/UCLA-Robot-Intelligence-Lab/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

- 97 episodes / 18408 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})

Same source recordings as every other overlay variant of this task — only the
burned-in pixels differ.

## Paired model

[EdwardoSunny/pi05_xarm_tube_binmarker_lora](https://huggingface.co/EdwardoSunny/pi05_xarm_tube_binmarker_lora)