README.md

metadata

license: cc-by-nc-4.0
task_categories:
  - robotics
tags:
  - tactile-sensing
  - contact-fields
  - manipulation

SCFields Release Artifacts

This dataset repository contains assets, contact-field datasets, and contact-field checkpoints used by the SCFields release code.

Paper: Semantic-Contact Fields for Category-Level Generalizable Tactile Tool Manipulation

Project page: https://kevinskwk.github.io/SCFields Code: https://github.com/Kevinskwk/SCFields

Layout

• assets/tools: generated TacSL tool assets.
• assets/peeler_raw: raw original peeler assets.
• assets/peeler_combined: combined peeler assets.
• data/sim/tools: simulated contact-field data for tools (tools_mixed).
• data/sim/peelers: simulated contact-field data for peelers (peelers_combined_new).
• data/real/scraper: converted real scraper contact-field data (real_scraper_corrected_lambda1).
• checkpoints/contact_field/tools_sim: tool contact-field checkpoint pretrained on simulated data.
• checkpoints/contact_field/tools_real: tool contact-field checkpoint finetuned on real data.
• checkpoints/contact_field/peelers_sim: peeler contact-field checkpoint pretrained on simulated data.
• checkpoints/contact_field/peelers_real: peeler contact-field checkpoint finetuned on real data.

Each checkpoint folder contains:

• model.ckpt: PyTorch Lightning checkpoint.
• config.yaml: the accompanying training configuration.

Usage

Download

You can use the Hugging Face CLI to download the artifacts:

hf download Kevinskwk/scfields-release \
  --repo-type dataset \
  --include "assets/**" \
  --include "data/sim/**" \
  --include "data/real/scraper/**" \
  --include "checkpoints/contact_field/**" \
  --local-dir /path/to/scfields

The release code's scripts/download_assets.sh maps shortened hosted asset paths to the repo-local asset layout expected by IsaacGym:

assets/peeler_raw      -> assets/peeler
assets/peeler_combined -> assets/peelers_combined

Training Example

To train the SCFields policy using the provided dataset and checkpoints, you can use the following command structure:

python train.py \
  --config-dir=config/scraping_real \
  --config-name=contact_field_delta_ee.yaml \
  data_root=/path/to/scfields \
  task.dataset.dataset_dir=/path/to/scfields/data/real/real_scraper_corrected_lambda1 \
  task.dataset.contact_field_checkpoint_path=/path/to/scfields/checkpoints/contact_field/tools_real/model.ckpt

Citation

@misc{ma2026semanticcontactfieldscategorylevelgeneralizable,
    title={Semantic-Contact Fields for Category-Level Generalizable Tactile Tool Manipulation},
    author={Kevin Yuchen Ma and Heng Zhang and Weisi Lin and Mike Zheng Shou and Yan Wu},
    year={2026},
    eprint={2602.13833},
    archivePrefix={arXiv},
    primaryClass={cs.RO},
    url={https://arxiv.org/abs/2602.13833},
}