README.md

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.json as the authoritative per-frame schema for each subset.
• Use meta/dataset_info.json for dataset-level counts, modality names, fps, tactile normalization notes, and coordinate-system definitions.
• Use meta/tasks.jsonl to map task_index to text.
• Use meta/episodes.parquet for episode length, task, relative parquet path, and relative video path.
• Resolve video.top_view relative 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_index is contiguous from 0 to length - 1 inside each episode.
• episode_done is true only on the last frame of each episode.
• Frame totals in meta/dataset_info.json match 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 right
• y: image down
• z: 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.md
• DeskTaskTac/README.md