- Tactile and force signalsPure RGB is often not enough for insertion and slip-sensitive tasks.
- Failure-heavy coverageMisalignment, slip, and retries should be preserved.
- Task resetsBenchmarkable contact tasks need consistent initialization and outcome labels.
Contact-rich manipulation datasets
Contact-rich data matters when success depends on force, friction, alignment, and recovery rather than only free-space motion.
Teams searching for contact-rich datasets are usually looking for realism, not just scale. This page helps them evaluate signal quality and task design.