Towards Human-level Dexterous Teleoperation
Paper • 2607.11481 • Published
Dataset Viewer
The dataset viewer is not available for this split.
Cannot load the dataset split (in streaming mode) to extract the first rows.
Error code: StreamingRowsError
Exception: CastError
Message: Couldn't cast
file: string
files: int64
uncompressed_bytes: int64
archive_bytes: int64
sha256: string
source_summary_sha256: string
source_inventory_sha256: string
archive_mtime_ns: int64
vlm_review: string
tactile_func_area_idx.png: struct<kind: string, source: string, channels: list<item: string>, oxt_areas: list<item: int64>, app (... 44 chars omitted)
child 0, kind: string
child 1, source: string
child 2, channels: list<item: string>
child 0, item: string
child 3, oxt_areas: list<item: int64>
child 0, item: int64
child 4, applies_to: list<item: string>
child 0, item: string
child 5, sha256: string
institution_BIGAI_official_transparent.png: struct<kind: string, url: string, native_size: list<item: int64>, sha256: string>
child 0, kind: string
child 1, url: string
child 2, native_size: list<item: int64>
child 0, item: int64
child 3, sha256: string
hand_joints_idx.png: struct<kind: string, geometry: string, geometry_url: string, index_source: string, verification: str (... 39 chars omitted)
child 0, kind: string
child 1, geometry: string
child 2, geometry_url: string
child 3, index_source: string
child 4, verification: string
child 5, not_shown: string
child 6, sha256: string
sensor_SharpaWave_recording.png: struct<kind: string, source: string, frame: int64, native_size: list<item: int64>, sha256: string>
child 0, kind: string
child 1, source: string
child 2, frame: int64
child 3, native_size: list<item: int64>
child
...
g
child 4, trajectories: int64
child 5, frames: int64
child 6, retained: string
child 7, review: string
child 8, video: string
license_note: string
institution_BIGAI_supplied_original.png: struct<kind: string, original_location: string, native_size: list<item: int64>, sha256: string>
child 0, kind: string
child 1, original_location: string
child 2, native_size: list<item: int64>
child 0, item: int64
child 3, sha256: string
sensor_SharpaWave.png: struct<kind: string, url: string, page: string, native_size: list<item: int64>, sha256: string>
child 0, kind: string
child 1, url: string
child 2, page: string
child 3, native_size: list<item: int64>
child 0, item: int64
child 4, sha256: string
institution_BIGAI.png: struct<kind: string, source: string, original_location: string, method: string, native_size: list<it (... 49 chars omitted)
child 0, kind: string
child 1, source: string
child 2, original_location: string
child 3, method: string
child 4, native_size: list<item: int64>
child 0, item: int64
child 5, verification: string
child 6, sha256: string
video.mp4: struct<kind: string, processing: string, details: string>
child 0, kind: string
child 1, processing: string
child 2, details: string
tactile_schema_revision: struct<date: string, primary: string, supplementary: string, diagram_method: string>
child 0, date: string
child 1, primary: string
child 2, supplementary: string
child 3, diagram_method: string
to
{'hand_joints_idx.png': {'kind': Value('string'), 'geometry': Value('string'), 'geometry_url': Value('string'), 'index_source': Value('string'), 'verification': Value('string'), 'not_shown': Value('string'), 'sha256': Value('string')}, 'tactile_func_area_idx.png': {'kind': Value('string'), 'source': Value('string'), 'channels': List(Value('string')), 'oxt_areas': List(Value('int64')), 'applies_to': List(Value('string')), 'sha256': Value('string')}, 'sensor_SharpaWave.png': {'kind': Value('string'), 'url': Value('string'), 'page': Value('string'), 'native_size': List(Value('int64')), 'sha256': Value('string')}, 'sensor_SharpaWave_recording.png': {'kind': Value('string'), 'source': Value('string'), 'frame': Value('int64'), 'native_size': List(Value('int64')), 'sha256': Value('string')}, 'institution_BIGAI.png': {'kind': Value('string'), 'source': Value('string'), 'original_location': Value('string'), 'method': Value('string'), 'native_size': List(Value('int64')), 'verification': Value('string'), 'sha256': Value('string')}, 'institution_BIGAI_official_transparent.png': {'kind': Value('string'), 'url': Value('string'), 'native_size': List(Value('int64')), 'sha256': Value('string')}, 'video.mp4': {'kind': Value('string'), 'processing': Value('string'), 'details': Value('string')}, 'license_note': Value('string'), 'vlm_review': Value('string'), 'institution_BIGAI_supplied_original.png': {'kind': Value('string'), 'original_location': Value('string'), 'native_size': List(Value('int64')), 'sha256': Value('string')}, 'camera_publication_revision': {'date': Value('timestamp[s]'), 'version': Value('string'), 'published_rgb_keys': List(Value('string')), 'excluded_rgb_keys': List(Value('string')), 'trajectories': Value('int64'), 'frames': Value('int64'), 'retained': Value('string'), 'review': Value('string'), 'video': Value('string')}, 'tactile_schema_revision': {'date': Value('string'), 'primary': Value('string'), 'supplementary': Value('string'), 'diagram_method': Value('string')}}
because column names don't match
Traceback: Traceback (most recent call last):
File "/src/services/worker/src/worker/utils.py", line 149, in get_rows_or_raise
return get_rows(
dataset=dataset,
...<4 lines>...
column_names=column_names,
)
File "/src/libs/libcommon/src/libcommon/utils.py", line 272, in decorator
return func(*args, **kwargs)
File "/src/services/worker/src/worker/utils.py", line 129, in get_rows
rows_plus_one = list(itertools.islice(safe_iter(ds, dataset=dataset), rows_max_number + 1))
File "/src/services/worker/src/worker/utils.py", line 544, in safe_iter
yield from ds.decode(False) if ds.features else ds
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 3052, in __iter__
for key, example in ex_iterable:
^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2559, in __iter__
for key, pa_table in self._iter_arrow():
~~~~~~~~~~~~~~~~^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2584, in _iter_arrow
for key, pa_table in self.ex_iterable._iter_arrow():
~~~~~~~~~~~~~~~~~~~~~~~~~~~~^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 558, in _iter_arrow
for key, pa_table in iterator:
^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 440, in _iter_arrow
for key, pa_table in self.generate_tables_fn(**gen_kwags):
~~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 361, in _generate_tables
self._cast_table(pa_table, json_field_paths=json_field_paths),
~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 132, in _cast_table
pa_table = table_cast(pa_table, self.info.features.arrow_schema)
File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2381, in table_cast
return cast_table_to_schema(table, schema)
File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2309, in cast_table_to_schema
raise CastError(
...<3 lines>...
)
datasets.table.CastError: Couldn't cast
file: string
files: int64
uncompressed_bytes: int64
archive_bytes: int64
sha256: string
source_summary_sha256: string
source_inventory_sha256: string
archive_mtime_ns: int64
vlm_review: string
tactile_func_area_idx.png: struct<kind: string, source: string, channels: list<item: string>, oxt_areas: list<item: int64>, app (... 44 chars omitted)
child 0, kind: string
child 1, source: string
child 2, channels: list<item: string>
child 0, item: string
child 3, oxt_areas: list<item: int64>
child 0, item: int64
child 4, applies_to: list<item: string>
child 0, item: string
child 5, sha256: string
institution_BIGAI_official_transparent.png: struct<kind: string, url: string, native_size: list<item: int64>, sha256: string>
child 0, kind: string
child 1, url: string
child 2, native_size: list<item: int64>
child 0, item: int64
child 3, sha256: string
hand_joints_idx.png: struct<kind: string, geometry: string, geometry_url: string, index_source: string, verification: str (... 39 chars omitted)
child 0, kind: string
child 1, geometry: string
child 2, geometry_url: string
child 3, index_source: string
child 4, verification: string
child 5, not_shown: string
child 6, sha256: string
sensor_SharpaWave_recording.png: struct<kind: string, source: string, frame: int64, native_size: list<item: int64>, sha256: string>
child 0, kind: string
child 1, source: string
child 2, frame: int64
child 3, native_size: list<item: int64>
child
...
g
child 4, trajectories: int64
child 5, frames: int64
child 6, retained: string
child 7, review: string
child 8, video: string
license_note: string
institution_BIGAI_supplied_original.png: struct<kind: string, original_location: string, native_size: list<item: int64>, sha256: string>
child 0, kind: string
child 1, original_location: string
child 2, native_size: list<item: int64>
child 0, item: int64
child 3, sha256: string
sensor_SharpaWave.png: struct<kind: string, url: string, page: string, native_size: list<item: int64>, sha256: string>
child 0, kind: string
child 1, url: string
child 2, page: string
child 3, native_size: list<item: int64>
child 0, item: int64
child 4, sha256: string
institution_BIGAI.png: struct<kind: string, source: string, original_location: string, method: string, native_size: list<it (... 49 chars omitted)
child 0, kind: string
child 1, source: string
child 2, original_location: string
child 3, method: string
child 4, native_size: list<item: int64>
child 0, item: int64
child 5, verification: string
child 6, sha256: string
video.mp4: struct<kind: string, processing: string, details: string>
child 0, kind: string
child 1, processing: string
child 2, details: string
tactile_schema_revision: struct<date: string, primary: string, supplementary: string, diagram_method: string>
child 0, date: string
child 1, primary: string
child 2, supplementary: string
child 3, diagram_method: string
to
{'hand_joints_idx.png': {'kind': Value('string'), 'geometry': Value('string'), 'geometry_url': Value('string'), 'index_source': Value('string'), 'verification': Value('string'), 'not_shown': Value('string'), 'sha256': Value('string')}, 'tactile_func_area_idx.png': {'kind': Value('string'), 'source': Value('string'), 'channels': List(Value('string')), 'oxt_areas': List(Value('int64')), 'applies_to': List(Value('string')), 'sha256': Value('string')}, 'sensor_SharpaWave.png': {'kind': Value('string'), 'url': Value('string'), 'page': Value('string'), 'native_size': List(Value('int64')), 'sha256': Value('string')}, 'sensor_SharpaWave_recording.png': {'kind': Value('string'), 'source': Value('string'), 'frame': Value('int64'), 'native_size': List(Value('int64')), 'sha256': Value('string')}, 'institution_BIGAI.png': {'kind': Value('string'), 'source': Value('string'), 'original_location': Value('string'), 'method': Value('string'), 'native_size': List(Value('int64')), 'verification': Value('string'), 'sha256': Value('string')}, 'institution_BIGAI_official_transparent.png': {'kind': Value('string'), 'url': Value('string'), 'native_size': List(Value('int64')), 'sha256': Value('string')}, 'video.mp4': {'kind': Value('string'), 'processing': Value('string'), 'details': Value('string')}, 'license_note': Value('string'), 'vlm_review': Value('string'), 'institution_BIGAI_supplied_original.png': {'kind': Value('string'), 'original_location': Value('string'), 'native_size': List(Value('int64')), 'sha256': Value('string')}, 'camera_publication_revision': {'date': Value('timestamp[s]'), 'version': Value('string'), 'published_rgb_keys': List(Value('string')), 'excluded_rgb_keys': List(Value('string')), 'trajectories': Value('int64'), 'frames': Value('int64'), 'retained': Value('string'), 'review': Value('string'), 'video': Value('string')}, 'tactile_schema_revision': {'date': Value('string'), 'primary': Value('string'), 'supplementary': Value('string'), 'diagram_method': Value('string')}}
because column names don't matchNeed help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
TeleDexter_Bulb
One submission per task, version 1.0.0. The two Zarr archives are distinct collection batches included together, not successive versions.
Contact: wangty153@gmail.com
One task, version 1.0.0, 155 trajectories and 93036 frames.
- bulb_tac_80.zarr.zip: 80 trajectories, 44142 frames; RGB: camera_main_rgb.
- realworld_bulb_sft_260909.zarr.zip: 75 trajectories, 48894 frames; RGB: camera_main_rgb, right_wrist_camera_rgb.
Format and tactile fields
Files are under TeleDexter_Bulb/. Extract both ZIP_STORED archives into the same dataset folder. Each contains a separate Zarr v2 batch.
The single metadata.json describes both batches together. SHA256SUMS verifies both archives.
Primary tactile is data/right_tactile_data_deform, image, areas [4,3,2,1,0].
F6 is data/supplementary_tactile_data_f6 (T,5,6), with supplementary_tactile_sensor_f6 and supplementary_tactile_type_f6. It has no area field.
See supplementary_tactile_note.json for zero-based channels and component order. F6 is preserved but is not consumed by the standard FTP-1 primary tactile loader.
Original numeric/image values and timestamps are preserved. Sensor state in metadata lists primary MTTS sensors only; F6 is documented in the supplementary note.
Review
Metadata/schema checks include an explicitly marked contributor supplementary-triplet extension. Unmodified upstream results are retained under oxt_check_output/upstream_precheck/; the upstream checker incorrectly demands an area for supplementary data. See ORGANIZER_CHANGES.md. Previously inspected Codex image evidence and judgments are retained per source batch with updated paths; no new external VLM API call or human signoff is implied. Timestamp gaps, unbounded sensor synchronization precision, unverified F6 calibration/baseline and visual occlusion warnings remain. OXT acceptance is decided by the organizers.
Data collection contributors
- 李浦豪 — TeleDexter / BIGAI
- 陈泽源 — TeleDexter / 北京通研院
- 王天宇 — TeleDexter / 北京通研院
- 黄奥申 — TeleDexter / 北京通研院
- 冯元莅 — TeleDexter / 北京通研院
- 黄思远 — BIGAI
Reference
TeleDexter: Towards Human-level Dexterous Teleoperation · Project blog Open-X-Tactile format. Asset sources are in ASSET_SOURCES.json.
The earlier 1.0.0 / 1.0.1 batch split is superseded by this combined 1.0.0 submission. Use the current files together.
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