This repository hosts the real-robot contact-rich manipulation dataset used by PhaForce: Phase-Scheduled Visual-Force Policy Learning with Slow Planning and Fast Correction for Contact-Rich Manipulation.
Project page:
https://thu-wangmx.github.io/phaforce/The dataset is converted to FTP-1 / Open-X-Tactile-style zarr keys. Each task is stored as one zarr group:
open_drawer.zarr: 50 trajectories, 21,653 frames
plug_in_charger.zarr: 100… See the full description on the dataset page:
https://huggingface.co/datasets/wangmingxinthu/PhaForce-Dataset.
