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+# Foundation Tactile (FoTa) - a multi-sensor multi-task large dataset for tactile sensing
+
+[![Paper](https://badgen.net/badge/icon/arXiv?icon=awesome&label&color=red)](https://github.com/alanzjl/t3_release)
+[![Repo](https://badgen.net/badge/icon/GitHub?icon=github&label)](https://github.com/alanzjl/t3_release)
+[![Colab](https://badgen.net/badge/icon/Colab?icon=terminal&label&color=yellow)](https://github.com/alanzjl/t3_release)
+
+[Jialiang (Alan) Zhao](https://alanz.info/), 
+[Yuxiang Ma](https://yuxiang-ma.github.io/), 
+[Lirui Wang](https://liruiw.github.io/), and 
+[Edward H. Adelson](https://persci.mit.edu/people/adelson/)
+MIT CSAIL
+
+[[Project Website]](https://t3.alanz.info/)
+
+![img](https://t3.alanz.info/imgs/data_vis.jpg)
+
+## Overview
+FoTa was released with Transferable Tactile Transformers (T3) as a large dataset for tactile representation learning.
+It aggregates some of the largest open-source tactile datasets, and it is released in a unified [WebDataset](https://webdataset.github.io/webdataset/) format.
+
+Fota contains over 3 million tactile images collected from 13 camera-based tactile sensors and 11 tasks.
+
+## File structure
+
+After downloading and unzipping, the file structure of FoTa looks like:
+
+```
+dataset_1
+    |---- train
+        |---- count.txt
+        |---- data_000000.tar
+        |---- data_000001.tar
+        |---- ...
+    |---- val
+        |---- count.txt
+        |---- data_000000.tar
+        |---- ...
+dataset_2
+:
+dataset_n
+```
+
+Each `.tar` file is one sharded dataset. At runtime, wds (WebDataset) api automatically loads, shuffles, and unpacks all shards on demand.
+The nicest part of having a `.tar` file, instead of saving all raw data into matrices (e.g. `.npz` for zarr), is that `.tar` is easy to visualize without the need of any code.
+Simply double clip on any `.tar` file to check its content.
+
+Although you will never need to unpack a `.tar` manually (wds does that automatically), it helps to understand the logic and file structure.
+
+```
+data_000000.tar
+    |---- file_name_1.jpg
+    |---- file_name_1.json
+    :
+    |---- file_name_n.jpg
+    |---- file_name_n.json
+```
+The `.jpg` files are tactile images, and the `.json` files store task-specific labels.
+
+For more details on operations of the paper, checkout our GitHub repository and Colab tutorial.
+
+## Citation
+
+MIT License.