Datasetpublic

OpenGraphLabs-Research/ego-tactile-manipulation

Ego-Tactile Manipulation Egocentric video + dense two-hand tactile + touch-grounded action labels - by OpenGraph Labs. Four episodes visualized in our dashboard - egocentric video with live tactile & sensor signals. Synchronized ego + touch human-manipulation data is rare. This is a clean 1.28-hour sample from OpenGraph Labs' Physical-AI data pipeline: a head camera plus our OGLO tactile gloves on both hands, with action labels derived from the physical contact signal.… See the full description on the dataset page: https://huggingface.co/datasets/OpenGraphLabs-Research/ego-tactile-manipulation.

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Dataset Card

Ego-Tactile Manipulation

Egocentric video + dense two-hand tactile + touch-grounded action labels - by [OpenGraph Labs](https://www.opengraphlabs.com/).

<sub>Four episodes visualized in our dashboard - egocentric video with live tactile & sensor signals.</sub>

Synchronized ego + touch human-manipulation data is rare. This is a clean 1.28-hour sample from OpenGraph Labs' Physical-AI data pipeline: a head camera plus our OGLO tactile gloves on both hands, with action labels derived from the physical contact signal.

OGLO - our tactile gloves

OGLO tactile gloves

Worn on both hands · 5 fingers × 4×4 taxels = 80 channels per hand (160 total) · 90 Hz pressure, co-registered to every video frame.

Touch-grounded action segmentation

Action boundaries come from physical contact and grip-force - no human ground truth. Concise labels are added within each physically-fixed span.

Action storyboard Action browser

Specs


Episodes / duration	72 · 1.28 h (138,629 frames @ 30 fps)
Camera	egocentric, 1920×1080 (intrinsics included)
Tactile	160 channels · 30 Hz aligned + 90 Hz raw
IMU	head (9-ch) + both wrists (6-ch each)
Annotations	action / sub-action / anchor / grasp / hand / object (English)
Tasks	tabletop manipulation - pour, cap, cut, grip, arrange, …
License	CC-BY-4.0

What's inside

meta/      LeRobot v3.0 metadata  (+ opengraph/: camera intrinsics, tactile highlights)
data/      per-frame parquet      (tactile @30 Hz, IMU, annotations)
videos/    egocentric video
extra/     raw_tactile/ + raw_imu/ (head, both wrists)   byte-exact raw sensors
rerun/     one .rrd per episode   (instant visualization)

Format & use

Packaged in [LeRobot v3.0](https://huggingface.co/docs/lerobot) and [Rerun](https://rerun.io), so it's ready to use as-is:

python

from lerobot.datasets import LeRobotDataset
ds = LeRobotDataset("OpenGraphLabs-Research/ego-tactile-manipulation")

bash

rerun rerun/episode_000000.rrd      # visualize an episode

About OpenGraph Labs

Physical-AI data infrastructure - we capture and post-process large-scale egocentric human manipulation data (multi-camera, tactile, IMU, metric egomotion, frame-level semantics). This is our first public sample; reach out for collaborations and larger releases.

🌐 opengraphlabs.com · 🤗 OpenGraphLabs-Research

Citation

bibtex

@misc{opengraphlabs2026egotactile,
  title  = {Ego-Tactile Manipulation},
  author = {OpenGraph Labs},
  year   = {2026},
  url    = {https://huggingface.co/datasets/OpenGraphLabs-Research/ego-tactile-manipulation}
}

Released under CC-BY-4.0 - free to use, including commercially, with attribution.