# FreeTacMan

From the catalogue. Listed by one researcher from one source page.

- id: `freetacman`
- kind: handheld gripper, tactile force audio
- robot or device: handheld gripper with wrist fisheye camera and two optical tactile sensors (class: single arm)
- how collected: robot-free human demonstrations
- size as stated: over 3,000k visuo-tactile pairs, 10k+ trajectories, 50 tasks
- hours: not stated | hours only claimed: none | episodes: 10,000
- year: 2025
- organisation: OpenDriveLab
- licence: MIT (class: open)
- access: open (class: open)
- link (dataset): https://huggingface.co/datasets/OpenDriveLab/FreeTacMan
- Hugging Face repository: `OpenDriveLab/FreeTacMan`, 13,656 downloads in 30 days, https://huggingface.co/datasets/OpenDriveLab/FreeTacMan
- other names: FreeTacMan (OpenDriveLab/FreeTacMan), FreeTacMan and EgoHumanoid
- note: ICRA 2026; also on ModelScope.

## Copies and ports on the Hugging Face Hub

Uploads whose name carries this dataset's name, most downloaded first. Each has its own licence, which can differ from the original's.

| repository | robot | class | kind | episodes | hours | licence | downloads (30 d) |
|---|---|---|---|---|---|---|---|
| [Voxel51/FreeTacMan](https://datasets.gurasees.com/datasets/Voxel51/FreeTacMan.md) | Open X-Embodiment conversions | cross embodiment | conversion of a public dataset |  |  | open | 615 |
| [aCannedFish/FreeTacMan](https://datasets.gurasees.com/datasets/aCannedFish/FreeTacMan.md) | not stated | other | other |  |  | open | 340 |
| [easyminnn/freetacman-lerobot](https://datasets.gurasees.com/datasets/easyminnn/freetacman-lerobot.md) | Dexterous hands | dexterous hand | recording | 5,627 |  | open | 226 |

Confirm the licence at the link before relying on it.