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def945f 6137c7b def945f 6137c7b def945f 6137c7b def945f 6137c7b def945f | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 | # TTP: Human-Centric Transferable Tactile Pre-Training for Dexterous Robotic Manipulation
[](https://research.beingbeyond.com/ttp)
[](https://arxiv.org/pdf/2607.01067)
[](https://huggingface.co/BeingBeyond/TTP)
[](https://huggingface.co/datasets/BeingBeyond/H-Tac_Sample)
[](./LICENSE)
## Model Checkpoints and Datasets
Download models from Hugging Face:
| Model Type | Model Name | Description |
|------------|------------|-------------|
| **VLA Pre-trained** | [TTP-pretrained](https://huggingface.co/BeingBeyond/TTP/tree/main/pretrained) | Base vision-language-action model (preview) |
| **VLA Post-trained** | [TTP-LIBERO](https://huggingface.co/BeingBeyond/TTP/tree/main/libero) | Post-trained on LIBERO benchmark |
| **VLA Post-trained** | [TTP-LIBERO-plus](https://huggingface.co/BeingBeyond/TTP/tree/main/libero-plus) | Post-trained on LIBERO, zero-shot evaluated on LIBERO-plus |
| **VLA Post-trained** | [TTP-RoboCasa](https://huggingface.co/BeingBeyond/TTP/tree/main/robocasa) | Post-trained on RoboCasa 24 tasks |
The whole datasets of H-Tac will be coming soon. For now, you can download a small subset of H-Tac from Hugging Face for testing and evaluation: [H-Tac_Sample](https://huggingface.co/datasets/BeingBeyond/H-Tac_Sample)
## Setup
### Clone repository
```bash
git clone https://github.com/BeingBeyond/TTP.git
cd TTP
```
### Create environment
```bash
conda create -n beingh python=3.10
conda activate beingh
```
### Install package
```bash
pip install -r requirements.txt
pip install flash-attn --no-build-isolation
```
## Pre-Training
```bash
bash scripts/train/train_human_tactile.sh
```
## Post-Training
```bash
bash scripts/train/train_libero_example.sh
bash scripts/train/train_robocasa.sh
```
## Evaluation
```bash
bash scripts/eval/eval-libero-fast.sh
bash scripts/eval/eval-libero-plus.sh
bash scripts/eval/eval-robocasa-multiprocess.sh
```
## Acknowledgments
TTP builds on the following excellent open-source projects:
- [InternVL](https://github.com/OpenGVLab/InternVL): Vision-Language model backbone
- [Bagel](https://github.com/ByteDance-Seed/Bagel): Training framework
- [Qwen](https://github.com/QwenLM/Qwen): Language model and MoE expert
- [LIBERO](https://github.com/Lifelong-Robot-Learning/LIBERO): Benchmark for lifelong robot learning
- [RoboCasa](https://github.com/robocasa/robocasa): Large-scale simulation benchmark for everyday tasks
- [Being-H0.5](https://github.com/BeingBeyond/Being-H): Scaling Human-Centric Robot Learning for Cross-Embodiment Generalization
We thank the authors for their contributions to the robotics and machine learning communities.
## Citation
If you find this work useful in your research, please consider citing us!
```bibtex
@article{beingbeyond2026ttp,
title={Human-Centric Transferable Tactile Pre-Training for Dexterous Robotic Manipulation},
author={Zhang, Chi and Cai, Penglin and Xi, Ziheng and Yuan, Haoqi and Luo, Hao and Zhang, Wanpeng and Zheng, Sipeng and Xu, Chaoyi and Lu, Zongqing},
journal={arXiv preprint arXiv:2607.01067},
year={2026}
}
```
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