license: cc-by-nc-4.0
pretty_name: HTT Dataset & Model
tags:
- robotics
- tactile-sensing
- multimodal
size_categories:
- 1M<n<10M
HTT Dataset & Model
Paired multi-sensor tactile data (1.59M frames) and the pretrained model checkpoint for the Heterogeneous Tactile Transformer (HTT). Four sensors — two vision-based, two taxel arrays — organized into four task splits.
| sensor | type | raw format |
|---|---|---|
gsmini |
vision (GelSight Mini) | JPEG [224, 224, 3] |
9dtact |
vision (9DTact) | JPEG [224, 224, 3] |
xela |
taxel array (Xela uSkin) | float [T, 72] |
tac02 |
taxel array (TAC-02) | float [T, 66] |
├── pretrain/ 1. self-supervised pretraining (paired episodes, fully unlabeled)
├── classification/ 2. 20-object classification (paired episodes, labeled)
├── force/ 3. 6D force estimation (static probe episodes, aligned F/T)
├── slip/ 4. slip-stage detection (sliding episodes, 3-class labels)
├── bg_data/ background/reference frames per sensor
├── htt_4sensors_best.pth pretrained HTT checkpoint (~69 MB)
├── STATS.json measured per-split statistics
├── FORMAT.md detailed per-split format documentation
└── MANIFEST.sha256 checksums for every dataset file
Model checkpoint
This repo is the single home for dataset & model. The pretrained HTT
checkpoint (htt_4sensors_best.pth, ~69 MB, SHA-256
024f4c3a067168197d0a6996bbca5c03e744ed5abd1d35a666dbf78e7ac673f0):
hf download AllenBi21/HTT-dataset htt_4sensors_best.pth --repo-type dataset --local-dir checkpoints
Inference API and training code: github.com/jxbi1010/HTT.
Statistics
One paired sample = 1 optical frame + 1 synchronized chunk of 10 taxel frames; npz splits are counted as force-aligned timesteps at native sensor rate.
| corpus | episodes | frames |
|---|---|---|
| pretrain (paired, both pairs) | 1,789 | 710,633 (64,603 optical + 646,030 array) |
| classification (paired, both pairs) | 599 | 239,184 (21,744 optical + 217,440 array) |
| force task (static + sliding modes) | 401 + 405 | 423,284 (static 209,869 + sliding 213,415) |
| slip task (sliding modes) | 405 | 213,415 |
| total | ≈ 1.59M |
Note: sliding episodes carry time-aligned 6D force as well, so they can also
serve force training; all force results in the HTT paper use static mode
only (the force/ split), and slip results use the slip/ split.
Download
hf download AllenBi21/HTT-dataset --repo-type dataset --local-dir HTT-dataset
cd HTT-dataset && sha256sum -c MANIFEST.sha256 # optional integrity check
Dataloaders for every split ship with the HTT code release
(github.com/jxbi1010/HTT); pretrained
weights: AllenBi21/HTT. Formats are
documented in FORMAT.md.
License
CC-BY-NC-4.0 (non-commercial research use).