| --- |
| 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`): |
|
|
| ```bash |
| hf download AllenBi21/HTT-dataset htt_4sensors_best.pth --repo-type dataset --local-dir checkpoints |
| ``` |
|
|
| Inference API and training code: [github.com/jxbi1010/HTT](https://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 |
|
|
| ```bash |
| 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](https://github.com/jxbi1010/HTT)); pretrained |
| weights: [AllenBi21/HTT](https://huggingface.co/AllenBi21/HTT). Formats are |
| documented in [`FORMAT.md`](FORMAT.md). |
|
|
| ## License |
|
|
| CC-BY-NC-4.0 (non-commercial research use). |
|
|
