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 | 📄 Paper | 💻 GitHub for more details.

📂 Dataset Structure

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:

@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).