TactileLab_InHandRotation

Real-world rollouts of sim-to-real RL in-hand rotation (finger-gaiting) policies on a custom palm-up 4-finger hand built from LEAP Hand finger modules (16 DoF), with TacTip-family marker-based optical tactile sensors on all four fingertips. 10 household objects x 2 policy variants (proprioception + tactile depth/flow, proprioception + tactile depth), 30 s per episode at 10 Hz. Each step contains a fixed external RGB view, 16-D joint positions and the four raw tactile camera images.

Part of the Open-X-Tactile (OXT) collection. Data format (FTP-1 zarr) and key definitions: https://open-x-tactile.github.io/

• TactileLab_InHandRotation/: 20 episodes, one zip per episode (episode_<UTC start>.zarr.zip), 6000 steps at 10 Hz.
• Keys: timestamps, camera_main_rgb (224x224), right_hand_joints (16, rad), right_hand_joints_idx, right_tactile_{data,area,sensor,type}_fingertips (4 x 224x224x3 raw tactile images, sensor TacTipFingertip, type image), sub_task_instruction.
• Instruction: "Rotate the object in-hand along the palm direction, counterclockwise as viewed from above the palm."
• Policy variants: full = proprioception + tactile depth + tactile flow; depth = proprioception + tactile depth.

zarr	object	policy	steps	note
episode_20260627T231758Z.zarr	apple	full	300
episode_20260627T223535Z.zarr	apple	depth	300
episode_20260627T232053Z.zarr	blue_cylinder	full	300
episode_20260627T224323Z.zarr	blue_cylinder	depth	300
episode_20260627T231028Z.zarr	brain	full	300
episode_20260627T223322Z.zarr	brain	depth	300
episode_20260627T225658Z.zarr	can	full	300
episode_20260627T224205Z.zarr	can	depth	300
episode_20260627T231333Z.zarr	container	full	300
episode_20260627T221950Z.zarr	container	depth	300
episode_20260627T230318Z.zarr	gum	full	300	object wedged on the fingertips after ~22.5 s; the hand barely moves until the end
episode_20260627T223200Z.zarr	gum	depth	300
episode_20260627T231502Z.zarr	peach	full	300
episode_20260627T223916Z.zarr	peach	depth	300
episode_20260627T230843Z.zarr	pilljar	full	300
episode_20260627T221542Z.zarr	pilljar	depth	300
episode_20260627T231159Z.zarr	potbox	full	300
episode_20260627T224044Z.zarr	potbox	depth	300
episode_20260627T231632Z.zarr	raspberry	full	300
episode_20260627T223026Z.zarr	raspberry	depth	300

Citation

@inproceedings{lin2026tactilelab,
  title={TactileLab: Efficient Shear-Sensitive Tactile Simulation for Sim-to-Real Multi-Finger Dexterous Manipulation},
  author={Lin, Yijiong and Lepora, Nathan F},
  booktitle={ICRA 2026 Workshop on Dexterity with Multifingered Hands: Hardware, Sensing, and Skills}
}