Datasets:
| language: | |
| - en | |
| license: mit | |
| size_categories: | |
| - 10K<n<100K | |
| task_categories: | |
| - robotics | |
| pretty_name: FEATS - Finite Element Analysis for Tactile Sensing | |
| tags: | |
| - tactile-sensing | |
| - gelsight | |
| - force-distribution | |
| arxiv: 2411.03315 | |
| # FEATS: Finite Element Analysis for Tactile Sensing | |
| [**Project Page**](https://feats-ai.github.io) | [**Paper**](https://huggingface.co/papers/2411.03315) | [**Code**](https://github.com/feats-ai/feats) | |
| FEATS (Finite Element Analysis for Tactile Sensing) is a framework and dataset designed to estimate contact force distributions directly from raw images of a GelSight Mini optical tactile sensor. By using a U-net architecture trained on labels generated through Finite Element Analysis (FEA), the model can predict normal and shear force distributions from gel deformations. | |
| ## Dataset Description | |
| The dataset consists of GelSight Mini images paired with shear and normal force distribution labels inferred from FEA simulations. | |
| - **Data format**: The dataset is stored as `.npy` files. | |
| - **Requirements**: It is recommended to use `numpy` version 2.X or higher to load the dataset. | |
| - **Contents**: The data includes training, validation, and test sets featuring raw sensor images and corresponding force maps. | |
| For detailed instructions on data preparation, training, and evaluation, please refer to the [official GitHub repository](https://github.com/feats-ai/feats). | |
| ## Citation | |
| If you use this dataset or the associated code in your research, please cite: | |
| ```bibtex | |
| @misc{helmut_dziarski2025feats, | |
| title={Learning Force Distribution Estimation for the GelSight Mini Optical Tactile Sensor Based on Finite Element Analysis}, | |
| author={Erik Helmut and Luca Dziarski and Niklas Funk and Boris Belousov and Jan Peters}, | |
| year={2025}, | |
| eprint={2411.03315}, | |
| archivePrefix={arXiv}, | |
| primaryClass={cs.RO}, | |
| url={https://arxiv.org/abs/2411.03315}, | |
| } | |
| ``` |