ToucHD-Sim: 1.1 Million Multi-Sensor Tactile Contact Frames

ToucHD is a large-scale tactile dataset with 2,426,174 contact samples designed as a Tactile Hierarchical Dynamic resource. The ToucHD-Sim subset contains 1,118,896 multi-sensor contact frames from five optical tactile sensors, collected by BAAI. The dataset page was last updated on March 2, 2026.

Use Cases

• Training robotic manipulation models based on multi-sensor tactile feedback.
• Developing tactile perception algorithms based on optical tactile sensor data.
• Benchmarking dynamic tactile sensing models based on the hierarchical contact samples.
• Simulating robot-object interaction scenarios based on the large-scale contact frame collection.

Strengths

• Large scale with 2,426,174 total contact samples.
• Substantial simulation subset with 1,118,896 multi-sensor contact frames.
• Data is structured as a hierarchical dynamic resource for higher-tier tactile data.

Limitations

• Column-level documentation is absent; field semantics must be inferred after download.
• Row count for the specific simulation subset is unknown, which may limit suitability assessment.
• Description metadata is limited; actual data quality requires manual inspection after download.

Provenance

Source

BAAI

Collection Method

Simulation data collected from five optical tactile sensors.

Freshness

Last updated 2026-03-02 03:04:25; freshness should be verified.