# PhaForce Dataset

From the catalogue. Listed by one researcher from one source page.

- id: `phaforce-dataset`
- kind: tactile force audio
- robot or device: real robot contact-rich tasks with force (class: single arm)
- how collected: teleop
- size as stated: 260 trajectories, 116,870 frames, 4 tasks
- hours: not stated | hours only claimed: none | episodes: 260
- year: 2026
- organisation: not stated
- licence: CC BY-NC 4.0 (class: non commercial)
- access: open (class: open)
- link (dataset): https://huggingface.co/datasets/wangmingxinthu/PhaForce-Dataset
- Hugging Face repository: `wangmingxinthu/PhaForce-Dataset`, 77 downloads in 30 days, https://huggingface.co/datasets/wangmingxinthu/PhaForce-Dataset
- note: Stored in Open-X-Tactile style zarr.

Confirm the licence at the link before relying on it.