FTP-1 Dataset
FTP-1 (Yuan et al.) · 2026 · datasets.bot · datasets.bot page
One-liner. Pretraining corpus for FTP-1, a generalist foundation tactile policy: ~3,000 hours across 21 tactile sensors.
Setup
- Datasets / benchmarks: FTP-1-Dataset is the heterogeneous pretraining corpus behind FTP-1 (A Generalist Foundation Tactile Policy Across Tactile Sensors for Contact-Rich Manipulation). It aggregates roughly 3,000 hours of contact-rich manipulation data from 26 sources spanning human demonstrations, dexterous-hand, and gripper robots, recorded with 21 distinct tactile sensors (image-, array-, and state-based). Each episode pairs tactile observations with RGB images, proprioceptive state, and action trajectories, stored in zarr format. Hosted on ModelScope and mirrored on Hugging Face. License: MIT. Download: https://www.modelscope.cn/datasets/Eureka1064/FTP-1-Dataset.
- Hardware / simulator: Embodiment: multi. Environment: lab, tabletop. Realness: physical.
Schema
Zarr-format episodes (FTP-1 key convention): image-/array-/state-based tactile observations, RGB images, proprioceptive state, and action trajectories, with morphology-aware tactile tokens across 21 sensor types.
Links