yxma/tactile-video-pretrain-nc
Tactile Video Pretrain — non-commercial sibling (yxma/tactile-video-pretrain-nc) Companion to yxma/tactile-video-pretrain — aggregates GelSight-style tactile-video sources whose licenses do not allow commercial use and so cannot mix into the MIT main repo. Currently included: Baihu-VTouch (sample subset of 4 tasks across 2 robot platforms). Format Each episode lives at: videos/baihu_vtouch/<task>/<robot>/<episode_id>/ ├── bimanual.mp4 ← compact preview… See the full description on the dataset page: https://huggingface.co/datasets/yxma/tactile-video-pretrain-nc.
Thành tựu nổi bật
Những danh hiệu mới nhất của dự án
#1 Repository Của Tuần
#1 Repository Của Tuần
#1 Repository Của Tuần
🖐️ Dataset video chạm giác GelSight cho pretraining robot — bản không thương mại
Bộ dữ liệu video chạm giác (tactile) phong cách GelSight dùng cho pretraining robot, chứa video từ Baihu-VTouch (4 task, 2 nền tảng robot) với license CC-BY-NC-SA-4.0 — phiên bản không thương mại của yxma/tactile-video-pretrain.
Đây là bản sao dữ liệu kèn theo yxma/tactile-video-pretrain, tập hợp các nguồn video chạm giác kiểu GelSight nhưng có license không cho phép thương mại, nên không thể trộn vào repo MIT chính. Hiện tại chỉ bao gồm Baihu-VTouch (mẫu con 4 task trên 2 nền tảng robot).
✨ Điểm nổi bật
- Mỗi tập tin một episode: lưu theo cấu trúc
videos/baihu_vtouch/<task>/<robot>/<episode_id>/ - Nhiều dạng video:
bimanual.mp4(preview), 4 video chạm (tactile_left/right_l/r.mp4), 3 camera tay (cam_hand_left/right.mp4,cam_head.mp4), 2 IR (head_ir_left/right.mp4) - Độ sâu 16-bit không nén:
head_depth.mkvdùng mã hóa FFV1 lossless gray16le - Dữ liệu khớp xương:
joints.parquetchứa mảnh state + action - Thông số camera: thư mục
params/chứa intrinsics + extrinsics - Không mirror
original.h5: file H5 gốc (~970MB/episode) giữ trên đĩa, tải từ ModelScope - 4 task trên 2 robot: D-WHEEL (wheeled humanoid) và PIKA (handheld dual-gripper)
💡 Vì sao đáng chú ý
Khác với các bộ dữ liệu chạm giác thường chỉ có hình ảnh tĩnh, bộ này cung cấp toàn bộ video liên tục kèm nhiều dạng cảm biến (tactile, RGB, IR, depth 16-bit) — rất thích hợp để pretrain mô hình video chạm giác. Cả hai nền tảng robot D-WHEEL và PIKA dùng cùng schema 4-tactile + 3-camera, hỗ trợ pretraining liên nền tảng.
#Tactile #VideoPretrain #Robotics #GelSight #SelfSupervised #TiniX
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