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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

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