adding dataset and readme

README.md

@@ -1,44 +1,71 @@
 ---
-pretty_name: object-slide
+license: cc-by-nc-4.0
+tags:
+- sparsh
+- DIGIT
+- SSL pre-training
+pretty_name: touch-slide
 ---
 
-# Dataset Card for Dataset Name
+# Dataset Details
 
-<!-- Provide a quick summary of the dataset. -->
+Touch-Slide is a dataset inspired by [YCB-Slide](https://github.com/rpl-cmu/YCB-Slide). Its purpose is to increase the amount of data from multiple DIGIT sensors for self-supervised learning (SSL) pre-training of the Sparsh model. Touch-Slide consists of human-sliding interactions on toy kitchen objects using the DIGIT sensor. We used 9 objects, as shown below, and collected 5 trajectories for each, resulting in a total of 180k frames.
 
-This dataset card aims to be a base template for new datasets. It has been generated using [this raw template](https://github.com/huggingface/huggingface_hub/blob/main/src/huggingface_hub/templates/datasetcard_template.md?plain=1).
+<!-- insert figure from assets/touch_slide_objs.png -->
+![Touch-Slide](assets/touch_slide_objs.png)
 
-## Dataset Details
+This is a visual example of how the dataset was collected, showcasing sliding interactions that capture trajectories rich in shear forces:
 
-### Dataset Description
+![a](assets/bread-real.gif) ![b](assets/bread-digit.gif)
 
-<!-- Provide a longer summary of what this dataset is. -->
 
 
-
-- **Curated by:** [More Information Needed]
-- **License:** [More Information Needed]
-
-### Dataset Sources [optional]
-
-<!-- Provide the basic links for the dataset. -->
-
-- **Repository:** [More Information Needed]
-
 ## Uses
 
-<!-- Address questions around how the dataset is intended to be used. -->
-
-## Dataset Structure
-
-<!-- This section provides a description of the dataset fields, and additional information about the dataset structure such as criteria used to create the splits, relationships between data points, etc. -->
-
+This dataset does not include labels and is intended for self-supervised training only. It is specifically designed for training the Sparsh models listed in the Hugging Face [Sparsh collection](https://huggingface.co/collections/facebook/sparsh-67167ce57566196a4526c328).
 
+Please refer to the [Sparsh repo](https://github.com/facebookresearch/sparsh) for further information about usage.
 
-## Citation [optional]
-
-<!-- If there is a paper or blog post introducing the dataset, the APA and Bibtex information for that should go in this section. -->
-
-**BibTeX:**
+## Dataset Structure
 
-[More Information Needed]
+The dataset consists of 5 trajectories for each object. Each trajectory is stored as a pickle file, containing binarized tactile images. The structure is as follows:
+
+```bash
+Touch-Slide
+├── object_0 # eg: bread
+│   ├── dataset_0.pkl
+│   ├── ...
+│   ├── dataset_4.pkl
+├── object_1 # eg: corn
+├── ...
+```
+
+This is a sample code for loading the dataset in pickle format and extracting the images:
+
+```python
+def load_pickle_dataset(file_dataset):
+    with open(file_dataset, "rb") as f:
+        all_frames = pickle.load(f)
+    return all_frames
+
+def load_bin_image(io_buf):
+    img = Image.open(io.BytesIO(io_buf))
+    img = np.array(img)
+    return img
+
+frames = load_pickle_dataset('bread/dataset_0.pkl')
+img = load_bin_image(frames[0])
+```
+
+## BibTeX entry and citation info
+
+```bibtex
+@inproceedings{
+    higuera2024sparsh,
+    title={Sparsh: Self-supervised touch representations for vision-based tactile sensing},
+    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},
+    booktitle={8th Annual Conference on Robot Learning},
+    year={2024},
+    url={https://openreview.net/forum?id=xYJn2e1uu8}
+}
+```

banana/dataset_0.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ddf882fa24175fd8cd13a04f824bb1b80ed2aa8950ce7b89d24018104dc3ca6d
+size 56646159

banana/dataset_1.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f25d27cfdf479fb2b8081f70febebad04e8fff5c5110f3178e48928452fd140d
+size 56466159

banana/dataset_2.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14088abd0e0e0ba1d71a49c4672fa23db14ab39a6daa78ad1183960bb7af825f
+size 56466159

banana/dataset_3.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:543e3ced4253c49a94f717e58bb90d2cb223665a36762e366a4194d0a2c3487e
+size 56340159

banana/dataset_4.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08a97051e9d114580e89780c51657a08aeeb05378964b5f50decdddecd1d2eb6
+size 55800159

bread/dataset_0.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea68e5c5ac40e0f8b2a21047bdf5b5d13085cabe67734a000954039517d1f911
+size 51609759

bread/dataset_1.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9460a4f334138afaf71db7845cad8db66399f533cf8fb129048c52f7f74c22fc
+size 52002159

bread/dataset_2.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05aff9b3b4f51ce09fe4cda32debec60d399d4bf79b8d4a81410925e4be131a7
+size 51447759

bread/dataset_3.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9bcdccd18148706641dde582697d037313a8d0e54ca74eda150ce24a44d35daf
+size 51667359

bread/dataset_4.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20444f976a3894834bc3cf5d1f436c826840f49742f4799a2c57a402a3a3004a
+size 51811359

cheese/dataset_0.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3380339c517b39776d03846880f6d5098c6670040808d41b82bb895dd508b5d0
+size 50932959

cheese/dataset_1.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82d4d9cad28aee1d6436144adcd5ae7c7faf01faaddbb2e5272dec2915749b3c
+size 51537759

cheese/dataset_2.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e68d9769446d70f5366bd0307f0c64dba75e8372c727ae4f29b472aef2a9d71
+size 51314559

cheese/dataset_3.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6733198163d34017754d7aa081e4317f32d4d34c2ae635c4bda021571f021d2
+size 50886159

cheese/dataset_4.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10d51fcfd0b8adebfd6b59eeb8b440fb9da6493fe1b33102c495aef33eee05e5
+size 51987759

cookie/dataset_0.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d538cfa88003097bcbbc0531178c885dcc9f6456de15fea3e720d03bb596dfa
+size 51696159

cookie/dataset_1.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4393b22855988d6a2bcf30a6ac9971aa9edd5c6adbf072b55d271d183164efc8
+size 51778959

cookie/dataset_2.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e44ea5ba30cb88cae80103f462edf34b3ebc5cbbea245079ba5252c835b88624
+size 52095759

cookie/dataset_3.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1d34a68583b521b1d4c522f8c272a184371ba6abbfb85fb246a655661152106
+size 51976959

cookie/dataset_4.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c41d5846776efe16783b05f3ed872c3878f6f26d391f3143662f49735b4ee8b
+size 52178559

corn/dataset_0.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6991e73e5c6cf6e0776671ec9fbc8b1baf96dab27e3a8c963843a57c5980868c
+size 49968159

corn/dataset_1.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c37f3aa70c247889a869efc5746b175f54d984cb8deeca9e85acef5305aed9ae
+size 50043759

corn/dataset_2.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79f4a9950f278996edff9b901598009584bc941182e874ca14aa08b94cdb3021
+size 50256159

corn/dataset_3.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db6f0dc5d5cf46c816c1b3225c9618f81fe0fa431e3d8c2383b9217e67c7e744
+size 49687359

corn/dataset_4.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd4622af4290f97c2e866eee5196649fd6dbe5ec2f1ff3bdcdbbe3996ee84327
+size 49489359