Contact-rich manipulation remains one of the hardest problems in robot learning: vision alone cannot capture the high-frequency contact dynamics that determine whether a plug seats correctly, a stamp triggers cleanly, or a wipe exerts consistent pressure. This dataset is collected to support ForceFlow, a force-aware reactive framework built on flow matching that… See the full description on the dataset page: https://huggingface.co/datasets/JokerESC/ForceFlow.