Statistics and analysis
A gallery of dataset-level figures. All sources live under figures/dataset_figures/.
F1 — Episode length distribution
Most episodes run 1–10 minutes (median 4 min, longest 19 min) — about 8× longer than BridgeData V2's typical 30 s demo.
F2 — Contact event durations
4,136 contact events total. The typical event lasts ≈ 0.7 s (median), tail out to 33 s.
F3 — Where on the gel does contact land?
Both sensors show contact concentrated in the central ~50 % of the gel surface, dropping toward the edges. The left gel has discrete bright spots from repeated contacts with specific features.
F4 — Tactile signal is real and varied
16 random contact frames sampled across the dataset — discrete pins, edges, smooth surfaces, multi-object contact.
F5 — Bimanual workspace
Multi-view projection of the longest episode (2026-05-11/episode_017, 19 min). Left (blue) and right (orange) sensors operate over a ~30 × 40 × 30 cm workspace.
F6 — Tactile is independent of motion
Sensor velocity vs tactile intensity is essentially uncorrelated (r ≈ +0.04 / −0.05). Tactile carries information that is not explained by pose+velocity — a direct argument for the value of including tactile in policy / world-model training.
F7 — Comparison with other manipulation datasets
React is the only entry combining tactile + RGB-D + motion capture + bimanual.
F8 — Per-episode summary
Full table for all 30 episodes. CSV: figures/dataset_figures/F8_per_episode_summary.csv.
Tactile-intensity timelines
138-minute audio-waveform-style view across the entire dataset; left intensity rendered above the x-axis (orange), right intensity mirrored below (blue). A 20-minute zoom is in figures/contact_intensity_20min.png.
