ToucHD
Collection
Tactile Hierarchical Dynamic Dataset • 3 items • Updated
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ToucHD - Large-Scale Tactile Hierarchical Dynamic Dataset
This repository stores the Manipulation Data subset of the ToucHD dataset.
Paper Code🏠 Project Page: https://gewu-lab.github.io/AnyTouch2/
Introduction
ToucHD is a large-scale tactile dataset with 2,426,174 contact samples designed as a Tactile Hierarchical Dynamic resource to enrich higher-tier dynamic tactile data.
ToucHD (Mani): We modify FastUMI by equipping its two grippers with different tactile sensors and collect 584,842 contact frames from 46 carefully designed manipulation tasks, while simultaneously recording the interaction videos.
Download and Pre-process
To download the dataset:
huggingface-cli download --repo-type dataset xxuan01/BAAI/ToucHD-Mani --local-dir datasets
To unpack the dataset which has been split into many .zip files:
cd datasets/ToucHD-Mani
for dir in data1 data2; do
for f in "$dir"/*.zip; do
unzip -o "$f" -d "${f%.zip}"
done
done
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