OpenViTac Benchmark Dataset

OpenViTac is a visuo-tactile robot manipulation benchmark covering physical-property perception, fragile-object handling, contact-rich manipulation, and precise insertion. This release contains 1,500 simulated episodes in LeRobot v2.1 format across 11 tasks: 1,300 with GelSight mini and 100 each with Neote and Xense for insert_USB.

For the benchmark and data-collection details, see the paper and code repository.

Simulation tasks

Each Simulation/<sensor>/<task>/ directory is a separate LeRobot dataset. Its meta/ directory contains episode metadata, data/chunk-000/ contains one Parquet file per episode, and videos/chunk-000/ contains the corresponding camera and tactile videos. GelSight mini data is under Simulation/GelSight_mini/.

Capability	Task directory	Task summary	Episodes
Physical-property perception	weight_classify	Identify whether a block is light or heavy through interaction and place it on the matching target.	100
Physical-property perception	hardness_classify	Identify whether a block is soft or hard through contact and place it on the matching target.	100
Physical-property perception	roughness_classify	Identify whether a block is smooth or rough through contact and place it on the matching target.	100
Physical-property perception	roughness_guided_regrasp	Use surface roughness to decide whether to keep the grasped block or regrasp another one.	100
Physical-property perception	empty_can_selection	Distinguish an empty can from visually similar cans through interaction and place it in a basket.	100
Fragility-aware manipulation	grasp_chip	Grasp and move a fragile chip without damaging it.	100
Contact-rich manipulation	gear_assembly	Mount and rotate a gear while maintaining engagement with a paired gear.	100
Contact-rich manipulation	pull_drawer	Maintain a stable grasp on the handle while opening a drawer.	100
Precision manipulation	insert_USB	Align a USB connector with its slot and insert it.	100
Precision manipulation	insert_block_v1	Align and insert a designated block into the matching opening.	100
Precision manipulation	insert_block_v2	Select the instructed object, then insert it into the matching opening.	300

The insert_USB task also includes Neote and Xense tactile sensor data, with 100 episodes each in Simulation/Neote/insert_USB/ and Simulation/Xense/insert_USB/.

Real-world tasks