BorisGuo/pair_touch_13m

PairTouch 13M Dataset

Multi-modal tactile dataset with pose, force, and tactile sensor data.

Configs

Config	Description	Sensors
pose_data	Pose estimation data	tac02/xela + camera
force_data	Force measurement data	tac02/xela + gelsight
tacniq_gsmini	TacNIQ + GSMini data	tacniq + gsmini
xela_9dtact	XELA + 9DTact data	xela + 9dtact

Usage

from datasets import load_dataset

# Load specific config
ds = load_dataset("BorisGuo/pair_touch_13m", "pose_data")

Tactile Sensors

tac02 / tacniq

• Taxel layout: 11 x 6 = 66 taxels
• Force type: Z-axis normal force only
• Dead taxels: Index 0 (top-left) and 5 (top-right) always read 0, should be ignored

Taxel indices:
[ 0][ 1][ 2][ 3][ 4][ 5]   <- Row 0 (index 0, 5 are dead)
[ 6][ 7][ 8][ 9][10][11]   <- Row 1
...
[60][61][62][63][64][65]   <- Row 10

xela

• Taxel layout: 4 x 6 = 24 taxels
• Force type: 3D force (X, Y, Z axes), total 72 values (24 x 3)
• Data format: Flattened as [x0, y0, z0, x1, y1, z1, ..., x23, y23, z23]

Sampling Frequency

force_data (1 tactile sample per frame)

Dataset	Frame Rate	Tactile Sensor
9dtact_force_h5	~10 Hz	-
gelsight_force_h5	~25 Hz	-
tac02_force_h5	~200 Hz	tac02
xela_force_h5	~100 Hz	xela

pose_data (multiple tactile samples per frame)

Dataset	Frame Rate	Samples/Frame	Effective Tactile Rate
tac02_pose_h5	~7.5 Hz	20	~150 Hz
xela_pose_h5	~7.5 Hz	10	~75 Hz
gelsight_pose_h5	~7.5 Hz	-	-
9dtact_pose_h5	~7.5 Hz	-	-

Paired sensor data

Dataset	Frame Rate	Sensors
tacniq_gsmini	10 Hz	tacniq + gsmini
xela_9dtact	10 Hz	xela + 9dtact

Data Fields

• file_name: Path to image file
• episode_id: Episode identifier
• frame_idx: Frame index within episode
• timestamp: Timestamp
• rotation: 3D rotation
• translation: 3D translation
• tactile: tac02 sensor matrix (11x6 taxels, Z-axis only)
• xela: XELA sensor matrix (4x6x3 taxels, 3D force)
• tacniq: TacNIQ sensor matrix (same as tac02)
• video: Episode video path

Data Dimensions

• images: (N, S, 224, 224, 3) - N frames, S samples per frame
• tactile (pose_data): (N, 20, 66) - N frames, 20Hz sampling, 66 taxels (11x6)
• xela (pose_data): (N, 10, 72) - N frames, 10Hz sampling, 72 values (4x6x3)
• tactile/xela (force_data): (N, 66) or (N, 72) - 1 sample per frame

Preprocessing

Use preprocess.py for data processing:

# Parse H5 files to JSON/images
python preprocess.py extract

# Check H5 structure (without parsing)
python preprocess.py extract --check

# Update metadata (add heatmap/video paths)
python preprocess.py extract --update

# Generate heatmaps
python preprocess.py heatmap
python preprocess.py heatmap --test              # Test mode
python preprocess.py heatmap --type tac02_pose   # Specific type

# Generate xela marker flow (point displacement visualization)
python preprocess.py marker_flow
python preprocess.py marker_flow --test
python preprocess.py marker_flow --type xela_pose

# Generate videos
python preprocess.py video
python preprocess.py video --test

# Pack images into tar files (reduce file count for HF upload)
python preprocess.py pack              # Pack only
python preprocess.py pack --delete     # Pack and delete original PNGs

# Unpack images from tar files
python preprocess.py unpack            # Unpack only
python preprocess.py unpack --delete   # Unpack and delete tar files

# Clean up (delete all PNGs, keep only videos)
python preprocess.py clean

# Upload to Hugging Face
python preprocess.py upload            # 只上传/更新，不删除远端文件
python preprocess.py upload --sync     # 同步模式：删除远端存在但本地不存在的文件

# Full pipeline (extract -> heatmap -> video -> update)
python preprocess.py all

Heatmap Types

Type	Description
tac02_pose	pose_data/tac02_pose_h5
xela_pose	pose_data/xela_pose_h5
pose	All pose_data
tac02_force	force_data/tac02_force_h5
xela_force	force_data/xela_force_h5
force	All force_data
tacniq_gsmini	tacniq_gsmini
xela_9dtact	xela_9dtact
all	Everything

Video Types

Type	Description
9dtact_force	force_data/9dtact_force_h5
xela_force	force_data/xela_force_h5
gelsight_force	force_data/gelsight_force_h5
tac02_force	force_data/tac02_force_h5
gelsight_pose	pose_data/gelsight_pose_h5
9dtact_pose	pose_data/9dtact_pose_h5
tac02_pose	pose_data/tac02_pose_h5
xela_pose	pose_data/xela_pose_h5
xela_pose_flow	pose_data/xela_pose_h5 marker_flow (video_flow.mp4)
xela_force_flow	force_data/xela_force_h5 marker_flow (video_flow.mp4)
xela_9dtact_flow	xela_9dtact marker_flow (video_flow.mp4)
tacniq_gsmini	tacniq_gsmini (video_gsmini.mp4 + video_tacniq.mp4)
xela_9dtact	xela_9dtact (video_9dtact.mp4 + video_xela.mp4)
all	Everything