---
license: apache-2.0
tags:
  - robotics
  - manipulation
  - teleoperation
  - tactile
  - reward-weighted
  - lerobot
task_categories:
  - robotics
---

# Crab Manipulation Dataset — Reward Labeled

Same demonstrations as [crab-manipulation-dataset](https://huggingface.co/datasets/armteam/crab-manipulation-dataset), augmented with **per-episode reward parameters** for Safety-Aware Reward-Weighted Flow Matching (SA-RWFM) training.

## What's Different

Each session's `meta/` folder contains an additional `reward_params.json` with:
- **Tactile analysis**: contact fractions, force statistics, damage flags
- **Gripper analysis**: open/close thresholds, velocity analysis
- **Reward parameters**: success/drop/damage rewards, risk weighting, step-level scores
- **Fragility labels**: whether the object is fragile (soft) or not

## Dataset Structure

### Clean demonstrations (27 sessions)

| Folder | Sessions | Task | Fragile |
|--------|----------|------|---------|
| `egg_carton_to_tray/` | 11 | Place egg on tray | Yes |
| `marmalade_jar/` | 7 | Pick and place jar | No |
| `waffles/` | 9 | Pick and place waffle | Yes |

### Negative examples (7 sessions, damage_flag=true)

| Folder | Sessions | Description |
|--------|----------|-------------|
| `egg_carton_to_tray_cracked/` | 3 | Egg cracked |
| `marmalade_jar_crack/` | 2 | Excessive force |
| `waffles_crack/` | 2 | Excessive force |

## Reward Label Format

```json
{
  "tactile_scale": 1695.0,
  "tactile_active": true,
  "fragile": true,
  "damage_flag": false,
  "contact": { "contact_frac_L": 0.20, "contact_frac_R": 0.27, ... },
  "gripper_left": { ... },
  "gripper_right": { ... },
  "params": { "R_succ": 15.0, "R_drop": 20.0, "R_damage": 20.0, ... }
}
```

## Related

- [crab-manipulation-dataset](https://huggingface.co/datasets/armteam/crab-manipulation-dataset) — Same data without reward labels
- [crab-smolvla-rwfm](https://huggingface.co/armteam/crab-smolvla-rwfm) — SA-RWFM teacher trained on this data
- [crab-smolvla-hapticsvla](https://huggingface.co/armteam/crab-smolvla-hapticsvla) — HapticVLA distilled from the teacher

## Citation

If you use this model, please cite our paper:

```bibtex
@article{gubernatorov2026hapticvla,
  title={HapticVLA: Contact-Rich Manipulation via Vision-Language-Action Model without Inference-Time Tactile Sensing},
  author={Gubernatorov, Konstantin and Sannikov, Mikhail and Mikhalchuk, Ilya and Kuznetsov, Egor and Artemov, Makar and Ouwatobi, Ogunwoye Faith and Fernando, Marcelino and Asanov, Artem and Guo, Ziang and Tsetserukou, Dzmitry},
  journal={arXiv preprint arXiv:2603.15257},
  year={2026}
}
```