CLARU
wangmingxinthucc-by-nc-4.0

PhaForce Dataset

A real-robot contact-rich manipulation dataset containing 260 trajectories across four tasks (open drawer, plug in charger, plug in USB, wiping board) with visual and force/tactile feedback for training phase-scheduled visual-force policies.

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Technical Profile

Modalities
rgbforce_torqueproprioceptiontactile
Robot Embodiments
Flexiv Gripper
Environment
lab
Task Types
manipulationcontact-rich manipulationopen_drawerplug_in_chargerplug_in_usbwiping_board
Data Format
zarr
License
cc-by-nc-4.0
Part of the PhaForce Dataset family

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