LancetRobotics/gelsight-mini-gelsight-20260617

Dual GelSight Tactile 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

The data was collected on 2026-06-17 for real-world finetuning/adaptation of UniForce-style tactile models.

Directory Layout

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

The marker folders contain marker mask images produced by the local GelSight marker extraction pipeline. Raw RGB camera frames were collected locally but are not included in this Hub upload to keep the repository smaller and easier to upload.

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 desired 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.

Approximate uploaded dataset size: 1.7 GB.