---
license: mit
library_name: pytorch
tags:
- robotics
- tactile-sensing
- multimodal
datasets:
- TUM-ICS/Hide-and-Seek
---

# HAS-Bench Baselines

Pretrained baseline checkpoints for the [Hide-and-Seek tactile dataset](https://huggingface.co/datasets/TUM-ICS/Hide-and-Seek): a dual-head multimodal classifier with an object head and a weight head, trained with the public release pipeline (seed 42).

| File | Modalities |
|---|---|
| `m123/best_model.pt` | tactile point cloud + raw skin signals + virtual skin wrenches |
| `m12345/best_model.pt` | + end-effector pose + wrist F/T |

Each directory also contains the `last_metrics.json` written at the end of training.

## Usage

```bash
hf download TUM-ICS/HAS-Bench-baselines --local-dir checkpoints
```

Dataloaders and evaluation scripts: https://github.com/TUM-ICS/Tactile-Hide-and-Seek