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RMtac — Tactile UMI Manipulation Dataset
Handheld UMI (Universal Manipulation Interface) demonstrations with dual FlexiTac tactile fingertips, contributed to the Open-X-Tactile (OXT) collection in the FTP-1 zarr format.
Tasks
| Task | Episodes | Frames | Instruction |
|---|---|---|---|
| pick_crack_egg | 104 | 45,062 | pick up the egg, adapting the pick position, then crack the egg |
| pour_oil_pan | 122 | 50,295 | pick up the oil bottle, squeeze it to pour oil into the pan |
| scoop_egg_toast | 117 | 78,084 | pick up the spatula, scoop the fried egg from the pan and place it on the toast |
| total | 343 | 169,051 |
Contents
Each RMtac/<task>.zarr.zip is a zarr v2 store (zip entries at the archive
root, readable directly via zarr.ZipStore) with the FTP-1 data/ arrays:
right_wrist_pose(T, 6) — xyz + rotvec in the OXT UMI canonical gripper frame (z forward, x down, y left), first frame = identity per episoderight_wrist_camera_rgb(T, 224, 224, 3) — GoPro fisheye wrist viewright_tactile_data_gripper(T, 2, 12, 32) — raw FlexiTac counts, area 0 = left pad, 1 = right pad (right_tactile_area_gripper)right_hand_joints/robot0_gripper_width_m(T, 1) — gripper width in metres, joints idx 28sub_task_instruction,timestamps,meta/episode_ends
Collected at 30 Hz with a RealSense T265 (pose), GoPro 2.7K 4:3 via HDMI capture (wrist camera) and two FlexiTac 12x32 sensors at ~125 Hz, hardware-timestamped and aligned per frame.
Format reference
This dataset is a contribution to Open-X-Tactile (OXT): https://open-x-tactile.github.io/ — see the OXT site for the FTP-1 data format specification and the full collection.
Affiliation / contact
UC San Diego & San Diego State University — xixinzhang96@gmail.com
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