Upload README.md with huggingface_hub

README.md

@@ -5,6 +5,7 @@ task_categories:
 tags:
   - robotics
   - manipulation
+  - contact-rich-manipulation
   - force-torque
   - imitation-learning
   - flow-matching
@@ -22,21 +23,32 @@ size_categories:
 
 ![motivation](https://huggingface.co/datasets/JokerESC/ForceFlow/resolve/main/motivation-1.png)
 
-This dataset accompanies the ForceFlow framework — a force-aware reactive policy for contact-rich robot manipulation. It contains 7 real-robot demonstration tasks collected on a UFACTORY xArm6 with a 6-axis F/T sensor and dual Intel RealSense cameras.
+Contact-rich manipulation remains one of the hardest problems in robot learning: vision alone cannot capture the high-frequency contact dynamics that determine whether a plug seats correctly, a stamp triggers cleanly, or a wipe exerts consistent pressure. This dataset is collected to support **ForceFlow**, a force-aware reactive framework built on flow matching that addresses this gap.
+
+ForceFlow fuses temporal force/torque history with visual observations through an asymmetric multimodal design — force history acts as a global regulation signal to prevent it from being overshadowed by high-dimensional image features, while a hybrid action space jointly predicts end-effector motion and expected next-step contact force. To handle spatial generalization, ForceFlow introduces a **Vision-to-Force (V2F) handover**: a VLM first localizes the target in the scene, then control passes to the force-aware policy for precise local contact interaction.
+
+This dataset contains **7 real-robot teleoperated demonstration tasks** spanning two categories of contact-rich manipulation, collected on a UFACTORY xArm6 equipped with a 6-axis wrist F/T sensor and dual Intel RealSense cameras.
 
 ---
 
 ## Tasks
 
-| Task | Episodes | Total Steps | Description |
+**Short-horizon contact** — tasks requiring precise force application at a specific moment:
+
+| Task | Episodes | Total Steps | Key Challenge |
+|---|---|---|---|
+| `stamp` | 100 | 45,867 | Visual ambiguity in paper thickness; force-triggered stamping |
+| `plug` | 100 | 50,107 | Coarse visual alignment with force-guided insertion |
+| `press_button` | 50 | 23,396 | Varying spring constants and trigger depths |
+| `insert` | 50 | 25,032 | Sub-millimeter tolerance and geometric jamming |
+
+**Continuous contact** — tasks requiring sustained force regulation throughout execution:
+
+| Task | Episodes | Total Steps | Key Challenge |
 |---|---|---|---|
-| `plug` | 100 | 50,107 | Insert an electrical plug into a socket |
-| `stamp` | 100 | 45,867 | Press a rubber stamp onto a surface |
-| `clean_whiteboard` | 100 | 56,810 | Wipe a whiteboard with an eraser |
-| `clean_vase` | 50 | 85,478 | Wipe the surface of a vase |
-| `peel` | 50 | 38,564 | Peel adhesive tape from a surface |
-| `insert` | 50 | 25,032 | Insert a peg into a hole |
-| `press_button` | 50 | 23,396 | Press a button with precise force |
+| `clean_whiteboard` | 100 | 56,810 | Stable normal force tracking on a planar surface |
+| `clean_vase` | 50 | 85,478 | Adaptive force regulation on a curved, non-linear surface |
+| `peel` | 50 | 38,564 | Consistent peel force on adhesive tape |
 
 ---