375720783jin/tlabel-convert

TLabel Convert — One-Click Tactile Data Format Conversion

中文 | English

TLabel Convert is a CLI tool for converting tactile sensor data between formats. It provides a unified interface to transform data from 9 different tactile sensors into training-ready formats (LeRobot, FTP-1/MTTS).

Quick Start

# Install
pip install tlabel>=0.19.0

# Convert a single file
tlabel convert --from gelsight --to lerobot --input data.pkl --output output_dir/

# Batch convert a directory
tlabel batch-convert --from univtac --to ftp1 --input-dir ./raw/ --output-dir ./converted/

# List all supported adapters
tlabel list-adapters

# Get detailed adapter info
tlabel adapter-info gelsight

Supported Adapters

Data Adapters (9 total)

Adapter	Sensor Type	Input Format	Description
gelsight	GelSight Mini / DIGIT	.pkl, .pickle	Vision-based tactile sensor
paxini	PaXini	.h5, .hdf5	High-resolution tactile array
daimon	Daimon DM-TacClaw	.parquet	LeRobot-compatible dataset
tlabel	Generic	.json	TLabel Format JSON
touchd	ToucHD-Force / AnyTouch 2	.npy + directory	Multi-modal tactile data
univtac	UniVTAC	.hdf5, .h5	Cross-dataset format
vtouch	VTouch	.h5, .hdf5	Vision-based tactile
ycb_slide	YCB-Slide CMU DIGIT	.npy + directory	Sliding manipulation data
tacquad	TacQuad AnyTouch	.csv + directory	Multi-sensor array

Output Formats (2 total)

Format	Description	Use Case
lerobot	HuggingFace LeRobot	VLA training, manipulation policies
ftp1	FTP-1/MTTS Zarr	Foundation model pretraining

Example: Converting GelSight Data to LeRobot Format

# 1. Convert single file
tlabel convert \
  --from gelsight \
  --to lerobot \
  --input gelsight_data.pkl \
  --output lerobot_dataset/

# 2. Batch convert a directory
tlabel batch-convert \
  --from gelsight \
  --to lerobot \
  --input-dir ./raw_gelsight/ \
  --output-dir ./lerobot_datasets/

What is TLabel?

TLabel is an open-source tactile data annotation standard. It provides:

• Unified schema for 14 semantic dimensions (contact, slip, force, etc.)
• 11 sensor/data adapters
• CLI tools for validation and conversion
• Visualization suite for tactile data

Why Convert Formats?

Different robot learning frameworks expect different data formats:

• LeRobot: HuggingFace's robot learning framework (parquet + metadata)
• FTP-1/MTTS: Foundation model pretraining (Zarr format)

TLabel Convert bridges the gap between raw sensor data and training-ready formats, saving you hours of manual data wrangling.

Documentation

• TLabel Format Specification
• Adapter Development Guide
• Schema Design Document

Citation

If you use TLabel in your research, please cite:

@software{tlabel2026,
  title={TLabel: A Unified Tactile Data Annotation Standard},
  author={Niusu Tech},
  year={2026},
  url={https://github.com/liesliy/tlabel}
}

License

Apache-2.0

---