Tactile DreamFusion: Exploiting Tactile Sensing for 3D Generation
Paper • 2412.06785 • Published
Dataset Viewer
The dataset viewer is not available for this split.
Cannot load the dataset split (in streaming mode) to extract the first rows.
Error code: StreamingRowsError
Exception: ValueError
Message: Invalid string class label TactileDreamFusion@87c8b764bcb2ec1139de0c6435f45ac1d9f283d1
Traceback: Traceback (most recent call last):
File "/src/services/worker/src/worker/utils.py", line 99, in get_rows_or_raise
return get_rows(
^^^^^^^^^
File "/src/libs/libcommon/src/libcommon/utils.py", line 272, in decorator
return func(*args, **kwargs)
^^^^^^^^^^^^^^^^^^^^^
File "/src/services/worker/src/worker/utils.py", line 77, in get_rows
rows_plus_one = list(itertools.islice(ds, rows_max_number + 1))
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 2690, in __iter__
for key, example in ex_iterable:
^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 2240, in __iter__
example = _apply_feature_types_on_example(
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 2157, in _apply_feature_types_on_example
encoded_example = features.encode_example(example)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/features/features.py", line 2152, in encode_example
return encode_nested_example(self, example)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/features/features.py", line 1437, in encode_nested_example
{k: encode_nested_example(schema[k], obj.get(k), level=level + 1) for k in schema}
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/features/features.py", line 1460, in encode_nested_example
return schema.encode_example(obj) if obj is not None else None
^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/features/features.py", line 1143, in encode_example
example_data = self.str2int(example_data)
^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/features/features.py", line 1080, in str2int
output = [self._strval2int(value) for value in values]
^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/features/features.py", line 1101, in _strval2int
raise ValueError(f"Invalid string class label {value}")
ValueError: Invalid string class label TactileDreamFusion@87c8b764bcb2ec1139de0c6435f45ac1d9f283d1Need help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
TactileDreamFusion Dataset
Data for Tactile DreamFusion: Exploiting Tactile Sensing for 3D Generation (NeurIPS 2024).
[Project Page] | [Code] | [Paper]
Contents
| File | Size | Description |
|---|---|---|
tactile_textures.zip |
~175 MB | Tactile texture triplets for 18 objects |
base_meshes.zip |
~26 MB | Example base meshes for training |
Tactile Texture Triplets
Each of the 18 objects contains three files representing the full processing pipeline from raw sensor capture to the final normal map:
tactile_textures/
<ObjectName>/
sensor_image.png # Raw GelSight Mini sensor RGB (240x320)
normal_patch.png # Processed normal map patch (240x240)
tiled_normal_map.png # Seamless quilted normal map (~2560x2560)
| File | Description |
|---|---|
sensor_image.png |
RGB image from the GelSight Mini tactile sensor, showing gel pad deformation when pressed against the object surface. |
normal_patch.png |
Normal map computed from the processed depth patch. Raw depth is high-pass filtered (FFT), bilateral filtered, cropped to the contact region, and converted to a normal map. |
tiled_normal_map.png |
Seamless tileable normal map synthesized via Image Quilting (Efros & Freeman, 2001). This is the file loaded by TactileDreamFusion during training. |
Objects (18)
| Object | Texture Description |
|---|---|
| avocado | Avocado skin |
| cantaloupe | Cantaloupe melon rind |
| ClothBag | Canvas bag fabric |
| CorkMat | Cork mat surface |
| Corn | Corn cob kernels |
| CuttingBoard | Wood cutting board grain |
| Football | American football leather |
| GoldGoat | Metal sculpture surface |
| GreenSweater | Knitted sweater (crochet) |
| MetalFrame | Metal grid/mesh |
| Orange | Orange peel |
| OrangeGlove | Heat-resistant rubber with heart-shape pattern |
| PinkCloth | Cleaning cloth fabric |
| Potato | Potato skin |
| PurpleGlove | Thin rubber with grid pattern |
| RedCloth1 | Patterned table cloth |
| Strawberry | Strawberry surface with seeds |
| TableTennisHandle | Smooth wood grain |
Normal Map Convention
Normal maps follow the OpenGL convention: x (red) = right, y (green) = up, z (blue) = outward. Stored as RGB PNG with values mapped from [-1, 1] to [0, 255] via (n * 0.5 + 0.5) * 255.
Usage
# Download via the provided script
cd TactileDreamFusion
bash scripts/download_hf_dataset.sh
# Or download manually
pip install huggingface_hub
python -c "
from huggingface_hub import snapshot_download
snapshot_download(repo_id='Ruihan28/TactileDreamFusion', repo_type='dataset', local_dir='data/')
"
After downloading, unzip into the data/ directory:
data/
tactile_textures/
avocado/
sensor_image.png
normal_patch.png
tiled_normal_map.png
...
base_meshes/
...
Citation
@inproceedings{gao2024exploiting,
title = {Tactile DreamFusion: Exploiting Tactile Sensing for 3D Generation},
author = {Gao, Ruihan and Deng, Kangle and Yang, Gengshan and Yuan, Wenzhen and Zhu, Jun-Yan},
booktitle = {Conference on Neural Information Processing Systems (NeurIPS)},
year = {2024},
}
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