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.omx_gelsight_env1_multitask_horizontal_vertical_line_nogelThis dataset was created using LeRobot.
Dataset Structure
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Dataset Structure
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Dataset Structure
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Dataset Structure
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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.omx_gelsight_env1_squareThis dataset was created using LeRobot.
Dataset Structure
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"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/WoojongKim/omx_gelsight_env1_square.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.gelsight-offline-testThis dataset was created using LeRobot.
Dataset Structure
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"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/mjkim00/gelsight-offline-test.omx_gelsight_env1_square_nogelThis dataset was created using LeRobot.
Dataset Structure
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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.gelsight-mini-pretrain-nc
GelSight Mini Pretrain · Non-Commercial Extension
⚠️ Non-commercial use only. This repository is licensed
CC-BY-NC-4.0 because it includes upstream sources whose licenses
restrict commercial use. For commercial-friendly Mini tactile data,
see the main yxma/gelsight-mini-pretrain repo
(CC-BY-4.0).
This dataset is the CC-BY-NC extension of yxma/gelsight-mini-pretrain.
It contains only the GelSight Mini sources whose upstream licenses are
not compatible with CC-BY-4.0 aggregation.… See the full description on the dataset page: https://huggingface.co/datasets/yxma/gelsight-mini-pretrain-nc.GelSight-YoungsModulus
GelSight Young's Modulus Dataset
Dataset of tactile images collected over grasping common objects labelled with the objects' Young's Moduli. All images are collected using GelSight Wedges, both with and without displacement markers. Associated code is available on GitHub.
Pre-print is available on arXiv.
Dataset Format
Each object is grasped a number of times, and each of these grasps is downsampled to 3 frames and shifted to create different data augmentations of the… See the full description on the dataset page: https://huggingface.co/datasets/mburgjr/GelSight-YoungsModulus.eval_smolvla_policy_omx_gelsight_env1_square_20260903_132708This dataset was created using LeRobot.
Dataset Structure
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Dataset Structure
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Dataset Structure
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Dataset Structure
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Dataset Structure
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Dataset Structure
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Dataset Structure
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Dataset Structure
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Dataset Structure
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Dataset Structure
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Dataset Structure
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Dataset Structure
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Dataset Structure
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Dataset Structure
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