FTP-1 Dataset
Description
FTP-1 Dataset aggregates about 3,000 hours of tactile manipulation data from 26 human and robot sources across 21 sensors. It spans image-based, array-based, and state-based touch on dexterous hands and gripper robots, with tactile annotations normalized through the Morphology-Aware Tactile Token Space and instructions rewritten for linguistic diversity. The mixture is designed to pretrain transferable contact-rich manipulation policies across sensors and embodiments.
License
Not specified for the aggregate release; source-specific terms apply.*
* Double-check the publisher's current license and usage terms before using this dataset.