2077AIDataFoundation/TouchScale-OXT

TouchScale for Open-X-Tactile

The TouchScale 100 h release, converted to the FTP-1 zarr format for the Open-X-Tactile (OXT) dataset collection. The data format (keys, coordinate frames, tactile function areas) is documented on the OXT website.

Tasks	920 (one zarr per task)
Trajectories	15,088
Frames	3,540,146 at 10 Hz (98.3 h)
Type / label	human, ego
Tactile sensor	TachinTechEIG012: bimanual full-hand gloves, 880 taxels per hand, normal + shear

Files

TouchScale/
    <task_name>_<hash>.zarr.zip    # one FTP-1 zarr per task, zipped without recompression
README.md

Each zip holds one <task>.zarr/ folder: unzip it, or open it in place with zarr (2.x or 3.x):

import zarr
store = zarr.storage.ZipStore("TouchScale/<task>.zarr.zip", mode="r")
root = zarr.open_group(store, mode="r", path="<task>.zarr")
ends = root["meta/episode_ends"][:]          # episode boundaries
rgb = root["data/camera_ego_rgb"]            # (T, 224, 224, 3) uint8

Contents of each zarr (data/)

Key	Shape	Notes
camera_ego_rgb, left_wrist_camera_rgb, right_wrist_camera_rgb	(T, 224, 224, 3) uint8	full 1280×720 frames resized to 224×224 (no crop)
camera_ego_pose	(T, 6)	head-camera pose T_world_cam as (x, y, z, rotation vector); OpenCV camera axes; world = first frame of the episode; estimated with ViPE (RGB-D, calibrated intrinsics)
{left,right}_tactile_data_<group>	(T, N, rows, cols, 3) float32	last dim = (normal, shear_x, shear_y), values as in the TouchScale release
{left,right}_tactile_area_<group>	(T, N) int64	OXT tactile function-area id of each pad
{left,right}_tactile_sensor_<group>, ..._type_<group>	(T,)	TachinTechEIG012, matrix
sub_task_instruction	(T,)	task instruction
timestamps	(T,) float64	Unix time in seconds

Tactile groups and their function-area ids:

Group	Pads	Area ids
distal_thumb	thumb tip	0
distal_fingers	index, middle, ring, little tips	1, 2, 3, 4
palm	thenar + hypothenar pads side by side (13 × 16)	5
proximal	thumb middle, index / middle / ring base	6, 11, 12, 13
middle_fingers	index, middle, ring, little middle segments	7, 8, 9, 10

The glove has no little-finger base pad, so area 14 is unused. Left-glove pads are stored as the mirror image of the right-glove layout.

Processing notes

• Episodes whose head pose failed a gyroscope consistency check (1 s rotation error median > 2° or p95 > 8°) were dropped: 236 of 15,324 episodes (1.5%).
• No hand or wrist poses are included.
• All 920 task zarrs pass the OXT-QC metadata precheck.

License and citation

Released under CC BY-NC 4.0, the same license as TouchScale: free for non-commercial research and education with attribution. For commercial use, please contact 2077AI.

If you use this data, please cite TouchScale:

@article{li2026touchscale,
  title   = {TouchScale: 500 Hours of Human Vision and Touch for Visual-Tactile Learning},
  author  = {Li, Dayou and Wang, Hao and Yang, Qianqian and Zhu, Zihao and Fang, Haoquan and Zeng, Ziyao and Han, Yan and Wang, Zihan and Wang, Yan and Huang, Baoru and Wang, Dilin and Shimada, Kenji and Luo, Yiyue and Li, Manling and Lv, Teresa and Mukadam, Mustafa and Ranjan, Rakesh and Zhang, Ruohan and He, Qi and Liu, Changliu and Chen, Xu and Pavone, Marco and Liu, Bangya and Li, Jiachen and Tomizuka, Masayoshi and Fan, Zhiwen},
  journal = {arXiv preprint arXiv:2610.10288},
  year    = {2026}
}