CLARU
joehjhuang2024MIT

TactileTracking: A tactile-based object tracking dataset

A benchmark dataset for tactile-based object tracking featuring 12 distinct objects and 84 tracking trials with tactile video, 6DoF ground truth sensor poses, and pre-processed surface geometry.

Downloads164
Episodes84
Likes1

Why This Matters for Physical AI

This dataset enables development and benchmarking of tactile-based perception methods for accurate object tracking and pose estimation, which are critical for robotic manipulation and contact-rich tasks.

Technical Profile

Modalities
tactilergb
Robot Embodiments
GelSight Mini sensor
Environment
lab
Task Types
object_trackingpose_estimation
Episodes
84
Annotation Types
6DoF_posescontact_masksgradient_mapssurface_geometry
License
MIT
Part of the TactileTracking family

Community Signals

Top 50% by downloads

Access

View on HuggingFaceRead Paper

Need custom tactile data?

Claru builds purpose-built datasets for lab applications with dense human annotations and quality assurance.

Request a Sample Pack

Related Datasets

Xperience-10M

A large-scale egocentric multimodal dataset of human experience containing 10 million interactions and 10,000 hours of synchronized first-person recordings with six video streams, audio, stereo depth, camera pose, hand mocap, full-body mocap, IMU, and hierarchical language annotations for embodied AI, robotics, and world modeling research.

rgbaudiodepthproprioception+3
2.3M downloadsother

Open-H-Embodiment

A multi-embodiment community-driven dataset of paired kinematics and video for training AI autonomy models in surgical robotics and ultrasound applications. The dataset includes tabletop exercises, clinical procedures, and simulations of healthcare robotics tasks.

rgbproprioception
118K downloads2026cc-by-4.0

Open-H-Embodiment

A community-driven, multi-embodiment dataset of paired kinematics and video for training and evaluating AI autonomy models in surgical robotics and ultrasound applications, including tabletop exercises, clinical procedures, and healthcare robotics simulations.

rgbproprioception
76K downloads2026cc-by-4.0

LingBot-Depth Dataset

Self-curated RGB-D dataset for training masked depth modeling approaches, containing real-world indoor scenes, VLA robot manipulation tasks, and simulated data across multiple camera types and robot platforms.

rgbdepth
71K downloadsCC BY-NC-SA 4.0

PhysicalAI-Robotics-Manipulation-Kitchen-Demos

A large-scale dataset of 600 hours of human-teleoperated demonstrations across 316 different kitchen manipulation tasks, totalling 55k trajectories collected using a Franka Panda robot with an Omron mobile base.

rgbproprioception
57K downloads2025cc-by-4.0

OmniAction

A large-scale multimodal dataset for proactive robot manipulation comprising 141,162 episodes with cross-modal contextual instructions derived from spoken dialogue, environmental sounds, and visual cues rather than explicit commands.

rgbaudiolanguage
45K downloads2025cc-by-nc-4.0