LancetRobotics/dual-gelsight-marker-20260617

Dual GelSight Marker-Mask Dataset 20260617

This dataset contains synchronized marker-mask tactile captures from two GelSight-style sensors:

• gelsight_mini: GelSight Mini camera stream
• gelsight: custom UVC GelSight-style camera stream

Only marker-mask images are included. Raw RGB camera frames were intentionally omitted from this Hub upload.

Directory Layout

marker/<sensor>/<indenter>/<frame_id>.jpg

Sensors

• marker/gelsight_mini: 3280x2464 single-channel JPEG masks
• marker/gelsight: 640x480 single-channel JPEG masks

The gelsight camera marker stream is stored in the vertically flipped viewing orientation produced by the acquisition pipeline. The gelsight_mini marker stream is stored without this vertical flip.

Frame Counts

Each count below is per sensor for the marker stream:

Indenter	Frames
cylinder	1285
cylinder_sh	937
cylinder_si	598
hexagon	1159
moon	582
prism	551
triangle	761

Total paired frame indices per stream: 5873.

Total JPEG files: 11746.