EgoTac-SC-OXT

This repository contains EgoTac-SC converted to the minimal Open X-Tactile (OXT) data format. EgoTac-SC consists of egocentric RGB observations, camera and wrist poses, hand states, and synchronized tactile measurements from AetherGloveV1.

Data layout

aether_oxt/
  aether_oxt_000.zip
  aether_oxt_001.zip
  ...
  aether_oxt_043.zip

The 44 ZIP archives contain 857 complete Zarr trajectories with 3,896,609 frames in total. Each trajectory is kept intact within one archive. The archives are approximately 10 GiB each, except for the final remainder archive.

After extraction, each *.zarr directory follows the minimal FTP-1/OXT schema used for this release, including egocentric RGB, timestamps, camera pose, left/right wrist pose, hand joints, sub-task instruction, and AetherGloveV1 finger/palm tactile data and descriptors.

Example:

unzip aether_oxt/aether_oxt_000.zip -d ./aether_oxt_extracted

References

• Original dataset: EgoTac-SC
• EgoTac project: EgoTac: In-the-wild Tactile Prediction from Egocentric Vision
• Open X-Tactile project and format: Open X-Tactile
• FTP-1 data format: FTP-1 Policy

When using this converted release, please cite the original EgoTac work and follow the Open X-Tactile citation and licensing guidance.