---
license: cc-by-nc-sa-4.0
task_categories:
- robotics
tags:
- imitation-learning
- manipulation
- tactile
---

# TAMEn: Tactile-Aware Manipulation Engine for Closed-Loop Data Collection in Contact-Rich Tasks

## 🎯 Overview

TAMEn builds upon the UMI paradigm with key enhancements in multimodality, precision-portability synergy, replayability, and data flywheel.

Please refer to our 🚀 [Website](https://opendrivelab.com/TAMEn) | 📄 [Paper](https://arxiv.org/abs/2604.07335) | 💻 [GitHub](https://github.com/OpenDriveLab/TAMEn) for more details.

![TAMEn Teaser](https://raw.githubusercontent.com/OpenDriveLab/opendrivelab.github.io/master/TAMEn/landing/teaser.jpg)

## 📂 Dataset Structure

```text
TAMEn/
├── Binder_Clip_Removal/
├── Cable_Mounting/
├── Dish_Washing/
└── Herbal_Transfer/
```

Each task folder contains:

- **Video files**: `TaskName_N_camera1.mp4` to `TaskName_N_camera4.mp4`
- **Trajectory files**: `TaskName_N_traj.csv`

## 🧾 Data Format

### Video Files

- **Format**: MP4
- **Views**: 4 synchronized camera views (`camera1~camera4`) per trajectory

### Trajectory Files

- **Format**: CSV
- **Naming**: `TaskName_N_traj.csv`

## 📝 Citation

If you use TAMEn in your research, please cite:

```bibtex
@misc{wu2026tamentactileawaremanipulationengine,
      title={TAMEn: Tactile-Aware Manipulation Engine for Closed-Loop Data Collection in Contact-Rich Tasks}, 
      author={Longyan Wu and Jieji Ren and Chenghang Jiang and Junxi Zhou and Shijia Peng and Ran Huang and Guoying Gu and Li Chen and Hongyang Li},
      year={2026},
      eprint={2604.07335},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2604.07335}, 
}
```

## 💼 License

This dataset is released under the CC BY-NC-SA 4.0 License.

## 📧 Contact

For questions or issues regarding the dataset, please contact: Longyan Wu (im.longyanwu@gmail.com).