DatoricTactile Glove and Stereo Manipulation Dataset
500 hours · visual and tactile signals
Study contact and bimanual manipulation through demonstrations that synchronize stereo video with instrumented-glove signals, task phases, and per-zone contacts.
Dataset specification
- RGB and stereo infrared video at 1280×720 and 25 fps
- 12 three-axis tactile sensors sampled at 25 Hz
- Time-aligned sensor records with per-sample timestamps and calibration
- ROS 2 bag and Parquet sensor delivery
- Per-zone contacts, frame states, bimanual roles, and manipulation phases
Intended uses
- Contact-aware robot manipulation research
- Visual and tactile representation learning
- Bimanual task-phase and contact modeling
Scope notes
- The data records human glove contacts; the target robot sensing and control interface is scoped during review.
- Selected task coverage, sensor fields, and delivery subset are confirmed in the review package.
Collection scope
Demonstrations
- Bimanual manipulation by consented participants
- Task, intent, and bimanual-role labels
Capture
- RGB and stereo infrared at 1280×720 and 25 fps
- 12 three-axis tactile sensors at 25 Hz
Catalog volume
- 500 hours
- Selected tasks and delivery subset confirmed during review
Delivery
- ROS 2 bag and Parquet sensor records
- Per-sample timestamps, calibration, contacts, and frame states
Annotation & metadata fields
- Task, verb, noun, and instruction
- Outcome and intent
- Bimanual roles
- Reach, load, lift, hold, replace, release, and idle phases
- Per-zone contacts and frame states
Capture methodology
- Consented participants perform bimanual manipulation with instrumented gloves
- Stereo cameras and glove sensors record each demonstration together
- Video and sensor records are time aligned with timestamps and calibration
Provenance & rights chain
- Recorded by consented participants or operators
- Licensing and the selected delivery scope are reviewed with Datoric
Quality, duplicates & PII
How submissions are reviewed and cleaned before they are accepted into the dataset.
- Sensor-dropout checks
- Saturation and crosstalk review
- Stream-alignment checks
Formats & delivery
- RGB and stereo infrared video
- ROS 2 bag sensor records
- Parquet sensor records with timestamps and calibration
Rights & license scope
Licensed by Datoric for robotics training, with final scope governed by the agreement for the selected delivery.
Frequently asked
- Which tactile signals are recorded?
- The catalog specifies 12 three-axis tactile sensors at 25 Hz, with per-zone contact labels, frame states, timestamps, and calibration.
- What manipulation phases are annotated?
- Labels include reach, load, lift, hold, replace, release, and idle, alongside task, instruction, outcome, intent, and bimanual roles.
- Can we inspect alignment and sensor quality?
- Request representative video and sensor records together with the applicable dropout, saturation, crosstalk, and stream-alignment review fields.