FTP-1 Dataset
Pretraining corpus for FTP-1, a generalist foundation tactile policy: ~3,000 hours across 21 tactile sensors.
| Year | 2026 |
|---|---|
| Total hours | 3,000 |
| Embodiments | multi |
| Modalities | force_torque, language, proprioception, tactile, rgb |
| Task categories | manipulation |
| License | MIT |
| Access | open — commercial use permitted |
| Maintainer | FTP-1 (Yuan et al.) |
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.