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README.md

@@ -1,10 +1,182 @@
 ---
-license: mit
-language:
-- en
-tags:
-- tactile
-- force
-- Multimodal
-- h5
----
+configs:
+  - config_name: pose_data
+    data_files: "pose_data/metadata.jsonl"
+  - config_name: force_data
+    data_files: "force_data/metadata.jsonl"
+  - config_name: tacniq_gsmini
+    data_files: "tacniq_gsmini/metadata.jsonl"
+  - config_name: xela_9dtact
+    data_files: "xela_9dtact/metadata.jsonl"
+---
+
+# PairTouch 13M Dataset
+
+Multi-modal tactile dataset with pose, force, and tactile sensor data.
+
+## Configs
+
+| Config | Description | Sensors |
+|--------|-------------|---------|
+| `pose_data` | Pose estimation data | tac02/xela + camera |
+| `force_data` | Force measurement data | tac02/xela + gelsight |
+| `tacniq_gsmini` | TacNIQ + GSMini data | tacniq + gsmini |
+| `xela_9dtact` | XELA + 9DTact data | xela + 9dtact |
+
+## Usage
+
+```python
+from datasets import load_dataset
+
+# Load specific config
+ds = load_dataset("BorisGuo/pair_touch_13m", "pose_data")
+```
+
+## Tactile Sensors
+
+### tac02 / tacniq
+
+- **Taxel layout**: 11 x 6 = 66 taxels
+- **Force type**: Z-axis normal force only
+- **Dead taxels**: Index 0 (top-left) and 5 (top-right) always read 0, should be ignored
+
+```
+Taxel indices:
+[ 0][ 1][ 2][ 3][ 4][ 5]   <- Row 0 (index 0, 5 are dead)
+[ 6][ 7][ 8][ 9][10][11]   <- Row 1
+...
+[60][61][62][63][64][65]   <- Row 10
+```
+
+### xela
+
+- **Taxel layout**: 4 x 6 = 24 taxels
+- **Force type**: 3D force (X, Y, Z axes), total 72 values (24 x 3)
+- **Data format**: Flattened as [x0, y0, z0, x1, y1, z1, ..., x23, y23, z23]
+
+## Sampling Frequency
+
+### force_data (1 tactile sample per frame)
+
+| Dataset | Frame Rate | Tactile Sensor |
+|---------|------------|----------------|
+| 9dtact_force_h5 | ~10 Hz | - |
+| gelsight_force_h5 | ~25 Hz | - |
+| tac02_force_h5 | ~200 Hz | tac02 |
+| xela_force_h5 | ~100 Hz | xela |
+
+### pose_data (multiple tactile samples per frame)
+
+| Dataset | Frame Rate | Samples/Frame | Effective Tactile Rate |
+|---------|------------|---------------|------------------------|
+| tac02_pose_h5 | ~7.5 Hz | 20 | ~150 Hz |
+| xela_pose_h5 | ~7.5 Hz | 10 | ~75 Hz |
+| gelsight_pose_h5 | ~7.5 Hz | - | - |
+| 9dtact_pose_h5 | ~7.5 Hz | - | - |
+
+### Paired sensor data
+
+| Dataset | Frame Rate | Sensors |
+|---------|------------|---------|
+| tacniq_gsmini | 10 Hz | tacniq + gsmini |
+| xela_9dtact | 10 Hz | xela + 9dtact |
+
+## Data Fields
+
+- `file_name`: Path to image file
+- `episode_id`: Episode identifier
+- `frame_idx`: Frame index within episode
+- `timestamp`: Timestamp
+- `rotation`: 3D rotation
+- `translation`: 3D translation
+- `tactile`: tac02 sensor matrix (11x6 taxels, Z-axis only)
+- `xela`: XELA sensor matrix (4x6x3 taxels, 3D force)
+- `tacniq`: TacNIQ sensor matrix (same as tac02)
+- `video`: Episode video path
+
+## Data Dimensions
+
+- `images`: (N, S, 224, 224, 3) - N frames, S samples per frame
+- `tactile` (pose_data): (N, 20, 66) - N frames, 20Hz sampling, 66 taxels (11x6)
+- `xela` (pose_data): (N, 10, 72) - N frames, 10Hz sampling, 72 values (4x6x3)
+- `tactile/xela` (force_data): (N, 66) or (N, 72) - 1 sample per frame
+
+## Preprocessing
+
+Use `preprocess.py` for data processing:
+
+```bash
+# Parse H5 files to JSON/images
+python preprocess.py extract
+
+# Check H5 structure (without parsing)
+python preprocess.py extract --check
+
+# Update metadata (add heatmap/video paths)
+python preprocess.py extract --update
+
+# Generate heatmaps
+python preprocess.py heatmap
+python preprocess.py heatmap --test              # Test mode
+python preprocess.py heatmap --type tac02_pose   # Specific type
+
+# Generate xela marker flow (point displacement visualization)
+python preprocess.py marker_flow
+python preprocess.py marker_flow --test
+python preprocess.py marker_flow --type xela_pose
+
+# Generate videos
+python preprocess.py video
+python preprocess.py video --test
+
+# Pack images into tar files (reduce file count for HF upload)
+python preprocess.py pack              # Pack only
+python preprocess.py pack --delete     # Pack and delete original PNGs
+
+# Unpack images from tar files
+python preprocess.py unpack            # Unpack only
+python preprocess.py unpack --delete   # Unpack and delete tar files
+
+# Clean up (delete all PNGs, keep only videos)
+python preprocess.py clean
+
+# Upload to Hugging Face
+python preprocess.py upload            # 只上传/更新，不删除远端文件
+python preprocess.py upload --sync     # 同步模式：删除远端存在但本地不存在的文件
+
+# Full pipeline (extract -> heatmap -> video -> update)
+python preprocess.py all
+```
+
+### Heatmap Types
+
+| Type | Description |
+|------|-------------|
+| `tac02_pose` | pose_data/tac02_pose_h5 |
+| `xela_pose` | pose_data/xela_pose_h5 |
+| `pose` | All pose_data |
+| `tac02_force` | force_data/tac02_force_h5 |
+| `xela_force` | force_data/xela_force_h5 |
+| `force` | All force_data |
+| `tacniq_gsmini` | tacniq_gsmini |
+| `xela_9dtact` | xela_9dtact |
+| `all` | Everything |
+
+### Video Types
+
+| Type | Description |
+|------|-------------|
+| `9dtact_force` | force_data/9dtact_force_h5 |
+| `xela_force` | force_data/xela_force_h5 |
+| `gelsight_force` | force_data/gelsight_force_h5 |
+| `tac02_force` | force_data/tac02_force_h5 |
+| `gelsight_pose` | pose_data/gelsight_pose_h5 |
+| `9dtact_pose` | pose_data/9dtact_pose_h5 |
+| `tac02_pose` | pose_data/tac02_pose_h5 |
+| `xela_pose` | pose_data/xela_pose_h5 |
+| `xela_pose_flow` | pose_data/xela_pose_h5 marker_flow (video_flow.mp4) |
+| `xela_force_flow` | force_data/xela_force_h5 marker_flow (video_flow.mp4) |
+| `xela_9dtact_flow` | xela_9dtact marker_flow (video_flow.mp4) |
+| `tacniq_gsmini` | tacniq_gsmini (video_gsmini.mp4 + video_tacniq.mp4) |
+| `xela_9dtact` | xela_9dtact (video_9dtact.mp4 + video_xela.mp4) |
+| `all` | Everything |