You can see the exact moment a robot touches something when its fingertip is a gel pad printed with a marker grid. The grid deforms where the object presses, so contact shows up as a change in the image. DreamTac puts two of these fingertips on a Franka arm, alongside a wrist camera and a third-person camera.

What DreamTac records

DreamTac is a Peking University release of a Franka Emika Panda working through contact-rich tabletop tasks. The Voxel51 conversion turns it into native multimodal MCAP episodes. It holds 703 trajectories across 12 tasks, 506,078 frames and 7.03 hours. Each frame carries all four views, so the set contains 2,024,312 camera frames.

The two fingertips are Xense Photon vision-based tactile sensors.…