omron-sinicx/contactile_200_lota

Contactile peg-in-hole demonstrations (TaMeSo)

Teleoperated peg-in-hole demonstrations with a soft-wrist robot and a 3×3 Contactile (PapillArray) tactile sensor, used to train MAT³ (Masked Tactile Trajectory Transformer) in Tactile Memory With Soft Robot: Robust Object Insertion via Masked Encoding and Soft Wrist (IEEE RA-L 2026).

• 64 episodes, 19,888 frames, 50 Hz
• Robot: UR5e with a soft wrist, integrated F/T sensor, Robotiq Hand-E, HTC VIVE tracker on the gripper

Layout

revision	format	notes
main (tag v3.0)	LeRobot v3.0 (meta/, data/)	used by the data viewer, recent LeRobot and mat3
branch v1.6	LeRobot v1.6 (meta_data/, train/, videos/, episodes/, episodes_original/)	original recording, kept for the original research code

The v3.0 files are converted from the v1.6 files by mat3.data.convert: frame order is kept, episodes are renumbered in storage order (original ids: meta/source.json), and meta/stats.json holds the original normalisation statistics. The camera videos are only in the v1.6 branch.

from lerobot.datasets.lerobot_dataset import LeRobotDataset

ds = LeRobotDataset("omron-sinicx/contactile_200_lota")

Features

key	dim	description
observation.contactile	33	11 pillars × (x, y, z) force; the first 9 form the 3×3 taxel grid
observation.ft	6	force / torque
observation.eef.position, observation.eef.rotation_ortho6	3 + 6	end-effector pose
observation.eef.rotation_axis_angle	3	end-effector rotation (axis-angle)
observation.vive_tracker_pose	7	gripper pose from the motion tracker (xyz + quaternion)
observation.qpos, observation.qvel	6 + 6	joint positions / velocities
action.position_cmd, action.rotation_cmd	3 + 3	commanded position / rotation (zyx Euler)
action.position, action.rotation_ortho6	3 + 6	target pose
action.gripper	1	gripper command
action.stiffness_diag.trans, action.stiffness_diag.rot	3 + 3	stiffness

Citation

@article{kamijo2026tactile,
    title   = {Tactile Memory With Soft Robot: Robust Object Insertion via Masked Encoding and Soft Wrist},
    author  = {Kamijo, Tatsuya and Nishimura, Mai and Shibasaki, Nodoka and Siburian, Jeremy and Beltran-Hernandez, Cristian C. and Hamaya, Masashi},
    journal = {IEEE Robotics and Automation Letters},
    volume  = {11},
    number  = {7},
    pages   = {7844--7851},
    year    = {2026},
    doi     = {10.1109/LRA.2026.3692097},
}