Hugging Face's logo

Datasets:
AllenBi21
/
HTT-dataset

Size:
1M<n<10M
Tags:
robotics
tactile-sensing
multimodal
License:
Dataset card Files
xet
 Community
HTT-dataset
File size: 2,844 Bytes
3ec1401
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
{
  "counting": "1 paired sample = 1 optical frame + 1 chunk of 10 taxel frames; npz splits counted as 6d_force-aligned timesteps",
  "pretrain": {
    "per_pair_split": {
      "tacniq_gsmini/test": {
        "episodes": 100,
        "paired": 4839,
        "bg": 100
      },
      "tacniq_gsmini/train": {
        "episodes": 720,
        "paired": 34881,
        "bg": 720
      },
      "tacniq_gsmini/val": {
        "episodes": 80,
        "paired": 3841,
        "bg": 80
      },
      "xela_9dtact/test": {
        "episodes": 99,
        "paired": 2358,
        "bg": 99
      },
      "xela_9dtact/train": {
        "episodes": 711,
        "paired": 16819,
        "bg": 711
      },
      "xela_9dtact/val": {
        "episodes": 79,
        "paired": 1865,
        "bg": 79
      }
    },
    "paired_samples": 64603,
    "optical_frames": 64603,
    "array_frames": 646030,
    "raw_frames": 710633,
    "episodes": 1789,
    "bg_frames": 1789
  },
  "classification": {
    "per_pair_split": {
      "tacniq_gsmini/test": {
        "episodes": 40,
        "paired": 1964,
        "bg": 40
      },
      "tacniq_gsmini/train": {
        "episodes": 239,
        "paired": 11731,
        "bg": 239
      },
      "tacniq_gsmini/val": {
        "episodes": 20,
        "paired": 958,
        "bg": 20
      },
      "xela_9dtact/test": {
        "episodes": 40,
        "paired": 942,
        "bg": 40
      },
      "xela_9dtact/train": {
        "episodes": 240,
        "paired": 5672,
        "bg": 240
      },
      "xela_9dtact/val": {
        "episodes": 20,
        "paired": 477,
        "bg": 20
      }
    },
    "paired_samples": 21744,
    "optical_frames": 21744,
    "array_frames": 217440,
    "raw_frames": 239184,
    "episodes": 599,
    "bg_frames": 599
  },
  "force": {
    "per_sensor": {
      "xela": {
        "episodes": 100,
        "frames": 105691
      },
      "tac02": {
        "episodes": 100,
        "frames": 54718
      },
      "9dtact": {
        "episodes": 100,
        "frames": 24829
      },
      "gsmini": {
        "episodes": 101,
        "frames": 24631
      }
    },
    "frames": 209869,
    "episodes": 401
  },
  "slip": {
    "per_sensor": {
      "xela": {
        "episodes": 104,
        "frames": 108649
      },
      "tac02": {
        "episodes": 100,
        "frames": 54717
      },
      "9dtact": {
        "episodes": 100,
        "frames": 24900
      },
      "gsmini": {
        "episodes": 101,
        "frames": 25149
      }
    },
    "frames": 213415,
    "episodes": 405
  },
  "totals": {
    "paired_corpora_raw_frames": 949817,
    "force_task_frames_static_plus_sliding": 423284,
    "force_task_frames_static_only_paper_protocol": 209869,
    "slip_task_frames": 213415,
    "frame_task_instances": 1586516,
    "distinct_frames": 1373101
  }
}