Hugging Face's logo

Datasets:
facebook
/
digit-force-estimation

Tags:
sparsh
DIGIT
force estimation
slip detection
License:
Dataset card Files Community
carohiguera commited on
Commit
94e6479
•
1 Parent(s): a47a804

added TacBench force dataset for DIGIT

Browse files
Files changed (45) hide show
  1. README.md +83 -0
  2. assets/force.gif +3 -0
  3. flat/batch_1/dataset_digit_00.pkl +3 -0
  4. flat/batch_1/dataset_digit_01.pkl +3 -0
  5. flat/batch_1/dataset_digit_02.pkl +3 -0
  6. flat/batch_1/dataset_digit_03.pkl +3 -0
  7. flat/batch_1/dataset_slip_forces.pkl +3 -0
  8. flat/batch_2/dataset_digit_00.pkl +3 -0
  9. flat/batch_2/dataset_digit_01.pkl +3 -0
  10. flat/batch_2/dataset_digit_02.pkl +3 -0
  11. flat/batch_2/dataset_digit_03.pkl +3 -0
  12. flat/batch_2/dataset_slip_forces.pkl +3 -0
  13. flat/batch_3/dataset_digit_00.pkl +3 -0
  14. flat/batch_3/dataset_digit_01.pkl +3 -0
  15. flat/batch_3/dataset_digit_02.pkl +3 -0
  16. flat/batch_3/dataset_digit_03.pkl +3 -0
  17. flat/batch_3/dataset_slip_forces.pkl +3 -0
  18. flat/batch_4/dataset_digit_00.pkl +3 -0
  19. flat/batch_4/dataset_digit_01.pkl +3 -0
  20. flat/batch_4/dataset_digit_02.pkl +3 -0
  21. flat/batch_4/dataset_digit_03.pkl +3 -0
  22. flat/batch_4/dataset_slip_forces.pkl +3 -0
  23. sharp/batch_1/dataset_digit_00.pkl +3 -0
  24. sharp/batch_1/dataset_digit_01.pkl +3 -0
  25. sharp/batch_1/dataset_digit_02.pkl +3 -0
  26. sharp/batch_1/dataset_digit_03.pkl +3 -0
  27. sharp/batch_1/dataset_digit_04.pkl +3 -0
  28. sharp/batch_1/dataset_slip_forces.pkl +3 -0
  29. sharp/batch_2/dataset_digit_00.pkl +3 -0
  30. sharp/batch_2/dataset_digit_01.pkl +3 -0
  31. sharp/batch_2/dataset_digit_02.pkl +3 -0
  32. sharp/batch_2/dataset_digit_03.pkl +3 -0
  33. sharp/batch_2/dataset_digit_04.pkl +3 -0
  34. sharp/batch_2/dataset_slip_forces.pkl +3 -0
  35. sphere/batch_1/dataset_digit_00.pkl +3 -0
  36. sphere/batch_1/dataset_digit_01.pkl +3 -0
  37. sphere/batch_1/dataset_digit_02.pkl +3 -0
  38. sphere/batch_1/dataset_digit_03.pkl +3 -0
  39. sphere/batch_1/dataset_slip_forces.pkl +3 -0
  40. sphere/batch_2/dataset_digit_00.pkl +3 -0
  41. sphere/batch_2/dataset_digit_01.pkl +3 -0
  42. sphere/batch_2/dataset_digit_02.pkl +3 -0
  43. sphere/batch_2/dataset_digit_03.pkl +3 -0
  44. sphere/batch_2/dataset_digit_04.pkl +3 -0
  45. sphere/batch_2/dataset_slip_forces.pkl +3 -0
README.md ADDED
@@ -0,0 +1,83 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ ---
2
+ license: cc-by-nc-4.0
3
+ tags:
4
+ - sparsh
5
+ - DIGIT
6
+ - SSL pre-training
7
+ pretty_name: touch-slide
8
+ ---
9
+
10
+ # Dataset Details
11
+
12
+ 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 5N) followed by a shear load, achieved by sliding the probe 2mm on the sensor's elastomer. An illustration of the protocol is shown below:
13
+
14
+ ![](assets/force.gif)
15
+
16
+ This dataset is part of TacBench for evaluating Sparsh touch representations. For more information, please visit https://sparsh-ssl.github.io/.
17
+
18
+ ## Uses
19
+
20
+ This dataset includes aligned tactile data, 3-axis force, and slip labels using the DIGIT sensor. It is designed to evaluate the performance of [Sparsh encoders](https://huggingface.co/collections/facebook/sparsh-67167ce57566196a4526c328) in understanding tactile properties such as force estimation and slip detection. Note that slip labels {0: no_slip, 1:slip} were obtain indirectlty via the friction cone method.
21
+
22
+ For more information on how to use this dataset and set up corresponding downstream tasks, please refer to the [Sparsh repository](https://github.com/facebookresearch/sparsh).
23
+
24
+
25
+
26
+ ## Dataset Structure
27
+
28
+ The dataset consists a collection of normal/shear load trajectories for each probe. The structure is as follows:
29
+
30
+ ```bash
31
+ sphere
32
+ ├── batch_1
33
+ │ ├── dataset_digit_00.pkl
34
+ │ ├── ...
35
+ │ ├── dataset_digit_03.pkl
36
+ │ ├── dataset_slip_forces.pkl
37
+ ├── batch_2
38
+ │ ├── ...
39
+ flat
40
+ ├── batch_1
41
+ │ ├── dataset_digit_00.pkl
42
+ │ ├── ...
43
+ │ ├── dataset_digit_03.pkl
44
+ │ ├── dataset_slip_forces.pkl
45
+ │ ...
46
+ sharp
47
+ ├── ....
48
+ ```
49
+
50
+ For each batch:
51
+ - `dataset_digit_xy.pkl`: contains the binarized tactile images only.
52
+ - `dataset_slip_forces.pkl`: it's a dictionary where each key represents a sliding trajectory. Each trajectory has the corresponding force and slip labels.
53
+
54
+
55
+ ```python
56
+ def load_pickle_dataset(file_dataset):
57
+ with open(file_dataset, "rb") as f:
58
+ all_frames = pickle.load(f)
59
+ return all_frames
60
+
61
+ def load_bin_image(io_buf):
62
+ img = Image.open(io.BytesIO(io_buf))
63
+ img = np.array(img)
64
+ return img
65
+
66
+ frames = load_pickle_dataset('sphere/batch_1/dataset_digit_00.pkl')
67
+ img = load_bin_image(frames[0])
68
+ ```
69
+
70
+ Please refer to [Sparsh repository](https://github.com/facebookresearch/sparsh) for further information about extracting the force/slip dataset.
71
+
72
+ ## BibTeX entry and citation info
73
+
74
+ ```bibtex
75
+ @inproceedings{
76
+ higuera2024sparsh,
77
+ title={Sparsh: Self-supervised touch representations for vision-based tactile sensing},
78
+ author={Carolina Higuera and Akash Sharma and Chaithanya Krishna Bodduluri and Taosha Fan and Patrick Lancaster and Mrinal Kalakrishnan and Michael Kaess and Byron Boots and Mike Lambeta and Tingfan Wu and Mustafa Mukadam},
79
+ booktitle={8th Annual Conference on Robot Learning},
80
+ year={2024},
81
+ url={https://openreview.net/forum?id=xYJn2e1uu8}
82
+ }
83
+ ```
assets/force.gif ADDED

Git LFS Details

  • SHA256: ee834318a803e0f88642069040cba377032a6ee55b4b883a10632fb6878a94ef
  • Pointer size: 132 Bytes
  • Size of remote file: 1.95 MB
flat/batch_1/dataset_digit_00.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8911c87bc20aeb309615b3814aced49840410ff958cfb6291109da5e2f1e3443
3
+ size 212383294
flat/batch_1/dataset_digit_01.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:218508d34015b8b9268173db0b61ead1d46efb6ac7489e9eb5c4b5fbfada13b3
3
+ size 212060366
flat/batch_1/dataset_digit_02.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5cf268ce9e0bbecc3e8a720a3ff38dfe0518167a7645bab40187116752d5c482
3
+ size 213089656
flat/batch_1/dataset_digit_03.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9a70f11f5401cd9dc494357a0c9f04507ad7456eb2d17934a3b1969dae419c19
3
+ size 182732417
flat/batch_1/dataset_slip_forces.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8469dd3f3b71638d4e2cf9aef8fcb9ff4756dc393118bb2531547f3f52db1799
3
+ size 8057014
flat/batch_2/dataset_digit_00.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8911c87bc20aeb309615b3814aced49840410ff958cfb6291109da5e2f1e3443
3
+ size 212383294
flat/batch_2/dataset_digit_01.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:218508d34015b8b9268173db0b61ead1d46efb6ac7489e9eb5c4b5fbfada13b3
3
+ size 212060366
flat/batch_2/dataset_digit_02.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5cf268ce9e0bbecc3e8a720a3ff38dfe0518167a7645bab40187116752d5c482
3
+ size 213089656
flat/batch_2/dataset_digit_03.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9a70f11f5401cd9dc494357a0c9f04507ad7456eb2d17934a3b1969dae419c19
3
+ size 182732417
flat/batch_2/dataset_slip_forces.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8469dd3f3b71638d4e2cf9aef8fcb9ff4756dc393118bb2531547f3f52db1799
3
+ size 8057014
flat/batch_3/dataset_digit_00.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5671090a131bd9154dc599c8b1c7ad76098f48b0675d33e9d35661b6ed0e45b7
3
+ size 211450865
flat/batch_3/dataset_digit_01.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6dcc21f05acfad7924dc8067badfaaf562532c2d0d3b492d8dea838301bfa66a
3
+ size 210653676
flat/batch_3/dataset_digit_02.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4cfff7173990eeda72146ecb42b66daf59cbba9694e9b80fea899a86b4773c55
3
+ size 211143298
flat/batch_3/dataset_digit_03.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:754a1eaa95380856f73470674ab0de4183e2cabbb2a5de660d0463db316d72b7
3
+ size 82691864
flat/batch_3/dataset_slip_forces.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:99ef0f38420d42f2aa02f0004211d34f0d056037649684f7ecd31db5af68af22
3
+ size 7897499
flat/batch_4/dataset_digit_00.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5671090a131bd9154dc599c8b1c7ad76098f48b0675d33e9d35661b6ed0e45b7
3
+ size 211450865
flat/batch_4/dataset_digit_01.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6dcc21f05acfad7924dc8067badfaaf562532c2d0d3b492d8dea838301bfa66a
3
+ size 210653676
flat/batch_4/dataset_digit_02.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4cfff7173990eeda72146ecb42b66daf59cbba9694e9b80fea899a86b4773c55
3
+ size 211143298
flat/batch_4/dataset_digit_03.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:754a1eaa95380856f73470674ab0de4183e2cabbb2a5de660d0463db316d72b7
3
+ size 82691864
flat/batch_4/dataset_slip_forces.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:99ef0f38420d42f2aa02f0004211d34f0d056037649684f7ecd31db5af68af22
3
+ size 7897499
sharp/batch_1/dataset_digit_00.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:48ec94a90f2605a4e2bfdef9c4f64bb8908e3bbb2be172d963cbafc1c957ebad
3
+ size 210987292
sharp/batch_1/dataset_digit_01.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5a6e678947f70f1d938324963ec8fb1a326d9d139b9d89e7700fde67d5e73b8e
3
+ size 211020513
sharp/batch_1/dataset_digit_02.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:28af656d60cdccb376f18f9783140f32a2d2f750279226d9f8da0cad425dd503
3
+ size 212026601
sharp/batch_1/dataset_digit_03.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7b0d3bbce33db7777efee4ff8104540907a2303e60eedef7aa75c6ffa1defd47
3
+ size 213865283
sharp/batch_1/dataset_digit_04.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d7b4a40e86c97fe2e069aebe42a814ebc5963c227777493c433f9191bc7ff769
3
+ size 153338102
sharp/batch_1/dataset_slip_forces.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:41dc52b8ca316334fddfdf2614bfb9c17b5ded0cdc3c988c91074a5ac31d1cc8
3
+ size 22045478
sharp/batch_2/dataset_digit_00.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:28a4bdada25c520dad5a5ce84c8e93fd4f74d3df06212344085907764152c255
3
+ size 215077523
sharp/batch_2/dataset_digit_01.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:155578dee468ad64588b3f5ae1ae99227ac166d4f693394bca14d5a757bb72dc
3
+ size 214595053
sharp/batch_2/dataset_digit_02.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d0f8e5df74de8d7cb0f747b832f935777b14a69f7823756a67c0e1ac0cf12f7b
3
+ size 215209829
sharp/batch_2/dataset_digit_03.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:916baf9247abfa0c525438176c6bb64b3ed63708bdf13abb8525edba694b0899
3
+ size 215168374
sharp/batch_2/dataset_digit_04.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6aebed89ffccb564b0691b3f0ad69964fdb11f4716ee4475fc63669b79052ab9
3
+ size 28686862
sharp/batch_2/dataset_slip_forces.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c87149aa8f23d15742f1b23464e37f537f86929a95788ed52d1db9c7364b5b41
3
+ size 16917598
sphere/batch_1/dataset_digit_00.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a4cd056583452c82e391d01e7b7a856f3a6ca66a8b8b8af8a592424d763890b1
3
+ size 214426806
sphere/batch_1/dataset_digit_01.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:be950fac09c49883f6aeea6536de1d8d725218a73fd0e792330586b39032575a
3
+ size 214431482
sphere/batch_1/dataset_digit_02.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b2827026a0ec124668f3b1908f8b280e11e74e23657577caadc16fc8fa7f6f18
3
+ size 214348435
sphere/batch_1/dataset_digit_03.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f30f6d195dca84d5c4d3fb5e5e6d9f9edd68f4305c84b9843a0b89ccd3ddecaf
3
+ size 132934891
sphere/batch_1/dataset_slip_forces.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ab0150ff02b9ec19618de42b2c601640cf7fff29c92ce9865d952a2126b48d55
3
+ size 18518020
sphere/batch_2/dataset_digit_00.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1ce81742a38ace5c546c595d25980a35a1c83823ddce1396a9523d034da46d85
3
+ size 213810125
sphere/batch_2/dataset_digit_01.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:dff03c29e19e6d2dad93854db654418c39011c402edff54fef65de2843a50e22
3
+ size 213715801
sphere/batch_2/dataset_digit_02.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a0d8f75cc9e3a12312c99ff8b2f608b7df25c0d82c600c567f380800a2e9f94a
3
+ size 213735050
sphere/batch_2/dataset_digit_03.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c68067bbe05536ab0e02d2f78da1d8ad2129a314ea67366740242c3ff7610cc5
3
+ size 213849867
sphere/batch_2/dataset_digit_04.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1df1f30129c535f633abf300beddaa287bea750057ede7c396bfa4533bfb99a7
3
+ size 111785678
sphere/batch_2/dataset_slip_forces.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:63e506945c9802330c987cc72a3d6257d2ed90ddc502e27b296f3f21cf3e0267
3
+ size 20635398