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FTP-1 FlexivXense
FTP-1 FlexivXense is a real-world vision-tactile manipulation dataset collected on a laboratory workbench using a Flexiv Rizon 4 robot, a Robotiq 2F-85 gripper, and an Xense Photon Tactile Sensor. The processed data follows the FTP-1 Zarr format used by Open-X-Tactile.
Tasks
- Hanoi — Insert Hanoi Tower rings onto the tower.
- USB insertion — Insert a USB drive into a USB port.
Processed data
| Task | Trajectories | Frames | Approx. duration at 24 FPS | Archive |
|---|---|---|---|---|
| Hanoi | 100 | 35,895 | 24 min 56 s | FTP-1-FlexivXense-Dataset/hanoi_v1.zarr.zip |
| USB insertion | 100 | 40,471 | 28 min 06 s | FTP-1-FlexivXense-Dataset/usb_v1.zarr.zip |
| Total | 200 | 76,366 | 53 min 02 s | — |
Extract each archive before opening it as a Zarr dataset.
Robot and sensor
- Robot: Flexiv Rizon 4
- End effector: Robotiq 2F-85 gripper
- Tactile sensor: Xense Photon Tactile Sensor
- Video frame rate: 24 FPS
- Collection environment: laboratory workbench
Modalities
Each task Zarr contains external RGB, wrist RGB, robot TCP pose, gripper state, Xense tactile RGB, timestamps, episode boundaries, and tactile metadata fields.
The Xense tactile stream is stored under the left_tactile_*_xense keys.
FTP-1 / Open-X-Tactile format
The archives use the FTP-1-compatible Zarr layout required by Open-X-Tactile. For the format specification and dataset discovery, see:
- Open-X-Tactile: https://open-x-tactile.github.io/
- FTP-1 project: https://ftp1-policy.github.io/
- FTP-1 repository: https://github.com/michaelyuancb/ftp1-policy
Reference
- Paper: FTP-1: A Generalist Foundation Tactile Policy Across Tactile Sensors for Contact-Rich Manipulation
- Institution: Shanghai Jiao Tong University and Shanghai Innovation Institute
- Contact: Wendi Chen (
chenwendi-andy@sjtu.edu.cn)
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