CLARU
joehjhuang2025MIT

GelSLAM Dataset: Tactile Object Tracking and Tactile Reconstruction

Two tactile perception datasets collected using GelSight Mini sensors for long-horizon 6DoF object tracking and high-fidelity object reconstruction through touch alone.

Downloads117
Episodes140 tracking episodes, 15 reconstruction episodes
Likes1

Why This Matters for Physical AI

This dataset enables development and evaluation of tactile perception algorithms for long-horizon object tracking and 3D reconstruction using only tactile feedback, advancing tactile sensing capabilities for robotic manipulation and object understanding.

Technical Profile

Modalities
tactilergb
Environment
lab
Task Types
object_trackingobject_reconstruction
Episodes
140 tracking episodes, 15 reconstruction episodes
Annotation Types
6DoF_pose_labelscontact_masksgradient_maps
License
MIT
Part of the GelSLAM family

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