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Datasets:
prosoro
/
necknet-100k

Tasks:
Robotics
Modalities:
Time-series
Formats:
parquet
Size:
10K - 100K
Tags:
necknet
omnineck
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
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+ ---
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+ license: bsd-3-clause
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+ task_categories:
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+ - robotics
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+ tags:
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+ - necknet
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+ - omnineck
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+ modalities:
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+ - tabular
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+ configs:
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+ - config_name: train
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+ data_files: data/train/data_*.parquet
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+ - config_name: test
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+ data_files: data/test/data_*.parquet
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+ dataset_info:
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+ - config_name: train
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+ features:
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+ - name: motion
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+ list: float64
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+ - name: force
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+ list: float64
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+ - name: nodes
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+ list: float64
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+ - config_name: test
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+ features:
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+ - name: motion
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+ list: float64
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+ - name: force
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+ list: float64
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+ - name: nodes
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+ list: float64
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+ size_categories:
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+ - 100K<n<1M
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+ ---
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+
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+ # NeckNet-100K
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+
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+ This dataset contains 100K samples of data for [NeckNet](https://huggingface.co/han-xudong/necknet), generated by finite element simulations.
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+
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+ ## Dataset Schema
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+
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+ The dataset is stored in **Parquet format** and organized as follows:
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+
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+ ```text
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+ data/
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+ ├── train/
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+ │ ├── data_00000.parquet
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+ │ ├── data_00001.parquet
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+ │ └── ...
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+ └── test/
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+ ├── data_00000.parquet
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+ └── ...
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+ ```
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+
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+ Each sample in this dataset contains three components:
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+
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+ | **Field Name** | **Type** | **Shape** | **Description** |
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+ |----------------|-----------------|-----------|--------------------------------------------------------------------------------------------------------------------------|
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+ | `motion` | `List[float64]` | `[6]` | The 6D motion of the finger, including translation (dx, dy, dz) and rotation (rx, ry, rz) in `mm` and `rad`. |
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+ | `force` | `List[float64]` | `[6]` | The 6D force and torque on the bottom surface of the finger, corresponding to (fx, fy, fz, tx, ty, tz) in `N` and `Nmm`. |
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+ | `nodes` | `List[float64]` | `[3N]` | The 3D displacement of N surface nodes of the finger, where each node is represented as `[dx, dy, dz]` in `mm`. |
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+
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+ ## Usage
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+
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+ ```python
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+ from datasets import load_dataset
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+
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+ dataset = load_dataset("han-xudong/necknet-100k")
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+
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+ # Access the 'train' subset
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+ for sample in dataset['train']:
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+ motion = sample['motion']
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+ force = sample['force']
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+ nodes = sample['nodes']
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+
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+ # Access the 'test' subset
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+ for sample in dataset['test']:
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+ motion = sample['motion']
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+ force = sample['force']
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+ nodes = sample['nodes']
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+
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+ ```
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+
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+ ## Citation
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+
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+ If you use this model in your research, please cite:
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+
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+ ```bibtex
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+ @article{han2025anchoring,
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+ title={Anchoring Morphological Representations Unlocks Latent Proprioception in Soft Robots},
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+ author={Han, Xudong and Guo, Ning and Xu, Ronghan and Wan, Fang and Song, Chaoyang},
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+ journal={Advanced Intelligent Systems},
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+ volume={7},
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+ pages={e202500444},
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+ year={2025}
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+ }
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+ ```
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