docs/figures.md

Statistics and analysis

A gallery of dataset-level figures. All sources live under figures/dataset_figures/.

F1 — Episode length distribution

Across 27 episodes, total duration 106 min. Episode lengths span 25 s to ~19 min (median ~4 min) — about 8× longer than BridgeData V2's typical 30 s demo.

F2 — Contact event durations

Across the 27 post-trim recording files, ~146,440 frames (77.0%) are in tactile contact. The typical contact 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 27 episodes. CSV: figures/dataset_figures/F8_per_episode_summary.csv.

Tactile-intensity timelines

106-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.

Note: The hero figures above (contact_intensity_*.png) and F1–F8 are pre-trim renders; their x-axis durations are slightly overstated for 2026-05-11/episode_{005,012,017}. They will be regenerated in a follow-up commit. Headline numbers (frames, duration, bad-frame %) in README.md and docs/quality.md are post-trim and authoritative.