datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
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.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.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-mini-pretrain-video
GelSight Mini Pretrain · Video / Sequence Subset
🎬 Companion to yxma/gelsight-mini-pretrain.
Where the main repo treats every kept frame as an independent image, this repo
preserves temporal sequences — one row per frame, ordered, with explicit
sequence-id + position metadata, for video tactile pretraining.
Why this repo
The main repo's pipeline applies perceptual-hash dedupe within each capture
to drop near-identical adjacent frames. That's great for image-level… See the full description on the dataset page: https://huggingface.co/datasets/yxma/gelsight-mini-pretrain-video.