datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
gelsight-force-estimation
Dataset Details
This dataset contains paired tactile and force data, intended for use in predicting 3-axis normal and shear forces applied to the sensor's elastomer. We used three different indenter shapes to collect force-labeled data: hemisphere, sharp, and flat. To measure force ground truths, we employed the ATI nano17 force/torque sensor. The protocol consisted of applying a random normal load (up to 3N) followed by a shear load, achieved by sliding the probe 2mm on the… See the full description on the dataset page: https://huggingface.co/datasets/facebook/gelsight-force-estimation.gelsight-mini-pretrain
GelSight Mini Pretrain
~853K GelSight Mini tactile RGB frames, 12 public sources, one parquet schema. Built for self-supervised representation learning (VAE / MAE / SimCLR / DINO) — every frame contact-filtered, channel-normalized, and re-encoded as JPEG q92.
Frames
Sources
Real
536K
FoTA (labeled+unlabeled), 3DCal, FEATS, GelSLAM, TactileTracking, RTM, FeelAnyForce, UniT, TacQuad
Sim
317K
sim_tactile_mnist, sim_starstruck (Taxim-rendered, Mini-calibrated)
NC… See the full description on the dataset page: https://huggingface.co/datasets/yxma/gelsight-mini-pretrain.glowtact-gelsight-tactile
GlowTact & GelSight Mini Tactile Probing Dataset
Optical tactile captures from a CNC probing rig, collected with two vision-based
tactile sensors: GlowTact (a custom sensor reconstructed with a 9DTact-style
darkness-to-depth model) and the commercial GelSight Mini.
Every CNC probe record pairs a tactile image with the exact indenter position
(mm) and the normal force (N) measured by a calibrated HX711 load cell at
the moment of capture, encoded directly in the filename.… See the full description on the dataset page: https://huggingface.co/datasets/yxma/glowtact-gelsight-tactile.Gelsight-Welds
Gelsight-Welds
Paired tactile (GelSight Mini) and top-down RGB (Intel RealSense D555) captures of weld beads on a flat sample plate. Each sample (session) is scanned with a 10×10 grid of GelSight touches; the D555 takes one overhead shot per session, which we crop into per-tile RGB images aligned with each touch.
Loading
from datasets import load_dataset
ds = load_dataset("Gelsight-Welds", split="all") # uses config "v2" by default; no train/val/test split is… See the full description on the dataset page: https://huggingface.co/datasets/ppak10/Gelsight-Welds.gelsight-mini-gelsight-20260617
Dual GelSight Tactile Dataset 20260617
This dataset contains synchronized marker-mask tactile captures from two GelSight-style sensors:
gelsight_mini: GelSight Mini camera stream
gelsight: custom UVC GelSight-style camera stream
The data was collected on 2026-06-17 for real-world finetuning/adaptation of UniForce-style tactile models.
Directory Layout
marker/<sensor>/<indenter>/<frame_id>.jpg
collection_log.txt
The marker folders contain marker mask images… See the full description on the dataset page: https://huggingface.co/datasets/LancetRobotics/gelsight-mini-gelsight-20260617.dual-gelsight-marker-20260617
Dual GelSight Marker-Mask Dataset 20260617
This dataset contains synchronized marker-mask tactile captures from two GelSight-style sensors:
gelsight_mini: GelSight Mini camera stream
gelsight: custom UVC GelSight-style camera stream
Only marker-mask images are included. Raw RGB camera frames were intentionally omitted from this Hub upload.
Directory Layout
marker/<sensor>/<indenter>/<frame_id>.jpg
Sensors
marker/gelsight_mini: 3280x2464… See the full description on the dataset page: https://huggingface.co/datasets/LancetRobotics/dual-gelsight-marker-20260617.