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values | manus_frame_index int64 -1 10.5k ⌀ | episode_done bool 2
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End of preview. Expand in Data Studio
YAML Metadata Warning:empty or missing yaml metadata in repo card
Check out the documentation for more information.
H-Tac Release Sample InternDesk
This package is a sample release of H-Tac tactile manipulation data. It uses a LeRobot v2.1-style episode layout with H-Tac metadata, and contains complete episode groups from two dataset families:
| directory | subset | episodes | frames | videos |
|---|---|---|---|---|
DeskTaskTac/RawHandPip |
human hand desk tasks with tactile data | 10 | 10,974 | 10 |
DeskTaskTac/AprilTagPip |
AprilTag-assisted desk tasks with tactile data | 4 | 11,104 | 4 |
InternDataTac/curated__genie1_mano_tactile |
robot MANO tactile data | 49 | 7,553 | 49 |
InternDataTac/curated__lift2_mano_tactile |
robot MANO tactile data | 35 | 6,351 | 35 |
Total sample size: 98 complete episodes, 35,982 frames, and 98 included top-view videos.
Release Documents
README.md: release overview, layout, shared fields, and loading notes.SCHEMA.md: cross-family schema reference for loader implementation.InternDataTac/README.md: InternDataTac-specific fields, masks, tactile normalization, and video availability.DeskTaskTac/README.md: DeskTaskTac-specific fields, pipeline differences, timing notes, and subset summaries.LICENSE: license terms for this sample package.CITATION.md: citation text for this sample package.
Scope
Each episode is complete within the package: parquet frames, episode metadata, task records, per-episode records, and available top-view videos are aligned by release-local episode indices.
Dataset Families
The sample has two related but not identical data families:
InternDataTac: robot manipulation data with MANO-based 351-D tactile pressure fields. Its two subsets share the same per-frame schema.DeskTaskTac: human-hand desktop manipulation data with TacGlove-style 137-D tactile fields. Its two subsets share the same per-frame schema.
Both families use the same LeRobot v2.1-style directory layout. They share timing, task, pose, MANO, video, and action/state fields; tactile and hand-control fields are family-specific.
Layout
Each subset follows this layout:
data/episode_*.parquet: per-frame episode data.meta/episodes.parquet: episode-level metadata.meta/tasks.jsonl: task language and task indices.meta/features.json: machine-readable feature schema.meta/dataset_info.json: dataset-level metadata.meta/episode_records/*.json: per-episode metadata records.videos/video.top_view/episode_*.mp4: top-view videos when available.
meta/features.json is the machine-readable frame schema. meta/dataset_info.json records dataset-level counts, modality metadata, fps, tactile notes, and coordinate systems.
Access Notes
This release does not include dataset loading code. Use a parquet-capable reader that supports list columns, and treat the metadata files as the interface contract:
- Use
meta/features.jsonas the authoritative per-frame schema for each subset. - Use
meta/dataset_info.jsonfor dataset-level counts, modality names, fps, tactile normalization notes, and coordinate-system definitions. - Use
meta/tasks.jsonlto maptask_indexto text. - Use
meta/episodes.parquetfor episode length, task, relative parquet path, and relative video path. - Resolve
video.top_viewrelative to the subset root. - Treat the common fields below as the shared interface, then branch by family for tactile and hand-control fields.
Schema Compatibility
Within this package, the subset schemas have the following properties:
- All episode parquet files in each subset have column names matching the subset's
meta/features.json. - All vector fields have the declared lengths.
frame_indexis contiguous from0tolength - 1inside each episode.episode_doneistrueonly on the last frame of each episode.- Frame totals in
meta/dataset_info.jsonmatch the actual parquet row counts.
Per-frame schema compatibility:
| comparison | result |
|---|---|
InternDataTac subsets compared with each other |
same 40-column per-frame schema |
DeskTaskTac subsets compared with each other |
same 38-column per-frame schema |
InternDataTac compared with DeskTaskTac |
not identical; 30 common columns plus family-specific fields |
Notable family-specific differences:
| family | family-specific fields |
|---|---|
InternDataTac |
gripper fields, active-arm masks, tactile.*_mano_tactile and tactile_pred.*_mano_tactile |
DeskTaskTac |
dexhand fields, tactile.*_tacglove and tactile_pred.*_tacglove |
Common Per-Frame Fields
The following fields are common to both families and appear in every data/episode_*.parquet file.
| field | dtype / shape | meaning |
|---|---|---|
episode_index |
int64 scalar |
Episode id within the release subset. |
frame_index |
int64 scalar |
Frame id inside the episode, starting from 0. |
timestamp |
float32 scalar |
Episode-relative timestamp in seconds. |
timestamp_ms |
float64 scalar |
Millisecond timestamp. In InternDataTac this is episode-relative; in DeskTaskTac this preserves the captured timeline timestamp. |
task_index |
int64 scalar |
Task id, resolved through meta/tasks.jsonl. |
task |
string scalar |
Task language or task name copied onto each frame. |
session_name |
string scalar |
Release-local episode/session identifier. |
session_dir |
string scalar |
Release-local session path or identifier. |
manus_frame_index |
int64 scalar |
Source Manus/MoCap frame index when available; -1 means unavailable. |
episode_done |
bool scalar |
End-of-episode marker. Only the final frame is true. |
state.eef_position |
float32[3] |
Right-side end-effector or wrist position in first_person_camera_opencv. |
state.eef_rotation |
float32[3] |
Right-side end-effector or wrist rotation as axis-angle in first_person_camera_opencv. |
state.left_eef_position |
float32[3] |
Left-side end-effector or wrist position in first_person_camera_opencv. |
state.left_eef_rotation |
float32[3] |
Left-side end-effector or wrist rotation as axis-angle in first_person_camera_opencv. |
state.right_beta |
float32[10] |
Right MANO shape parameter. |
state.left_beta |
float32[10] |
Left MANO shape parameter. |
state.right_theta |
float32[45] |
Right MANO pose parameter. |
state.left_theta |
float32[45] |
Left MANO pose parameter. |
state.first_person_camera_position_world |
float32[3] |
First-person camera position in world_scene. |
state.first_person_camera_rotation_world |
float32[3] |
First-person camera rotation as axis-angle in world_scene. |
video.top_view |
video / stored as string path |
Relative path to the top-view MP4 for this episode when present. |
video.top_view_frame_index |
int64 scalar |
Frame index in the top-view video. In this sample it matches frame_index. |
action.eef_position |
float32[3] |
Right-side action target or delta in first_person_camera_opencv; declared with absolute=false. |
action.eef_rotation |
float32[3] |
Right-side action rotation as axis-angle; declared with absolute=false. |
action.left_eef_position |
float32[3] |
Left-side action target or delta in first_person_camera_opencv; declared with absolute=false. |
action.left_eef_rotation |
float32[3] |
Left-side action rotation as axis-angle; declared with absolute=false. |
action.right_beta |
float32[10] |
Right MANO action shape parameter. |
action.left_beta |
float32[10] |
Left MANO action shape parameter. |
action.right_theta |
float32[45] |
Right MANO action pose parameter. |
action.left_theta |
float32[45] |
Left MANO action pose parameter. |
Coordinate Systems
first_person_camera_opencv is the current-frame egocentric camera frame following the OpenCV convention:
x: image righty: image downz: camera forward
world_scene is the scene/world frame used to express the first-person camera pose. InternDataTac defines it as the SimBox camera-to-environment scene frame. DeskTaskTac defines it as the scene-board world frame anchored to the reference scene AprilTag.
Notes
meta/episodes.parquet contains family-specific auxiliary columns. Use the common fields required by your loader, and branch by dataset family for additional metadata.
Top-view videos are part of the released modalities. Desk-task videos show hands, forearms, tools, and tabletop objects; robot-scene videos show the robot workspace and manipulated objects.
License And Citation
License terms are provided in LICENSE. Citation text is provided in CITATION.md.
Family-specific schema details are documented in:
InternDataTac/README.mdDeskTaskTac/README.md
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