The dataset viewer is not available for this subset.
Exception: SplitsNotFoundError
Message: The split names could not be parsed from the dataset config.
Traceback: Traceback (most recent call last):
File "/usr/local/lib/python3.14/site-packages/datasets/inspect.py", line 286, in get_dataset_config_info
for split_generator in builder._split_generators(
~~~~~~~~~~~~~~~~~~~~~~~~~^
StreamingDownloadManager(base_path=builder.base_path, download_config=download_config)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
)
^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/webdataset/webdataset.py", line 80, in _split_generators
raise ValueError(
...<2 lines>...
)
ValueError: The TAR archives of the dataset should be in WebDataset format, but the files in the archive don't share the same prefix or the same types.
The above exception was the direct cause of the following exception:
Traceback (most recent call last):
File "/src/services/worker/src/worker/job_runners/config/split_names.py", line 68, in compute_split_names_from_streaming_response
for split in get_dataset_split_names(
~~~~~~~~~~~~~~~~~~~~~~~^
path=dataset,
^^^^^^^^^^^^^
config_name=config,
^^^^^^^^^^^^^^^^^^^
token=hf_token,
^^^^^^^^^^^^^^^
)
^
File "/usr/local/lib/python3.14/site-packages/datasets/inspect.py", line 340, in get_dataset_split_names
info = get_dataset_config_info(
path,
...<6 lines>...
**config_kwargs,
)
File "/usr/local/lib/python3.14/site-packages/datasets/inspect.py", line 291, in get_dataset_config_info
raise SplitsNotFoundError("The split names could not be parsed from the dataset config.") from err
datasets.inspect.SplitsNotFoundError: The split names could not be parsed from the dataset config.Need help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
HTT Dataset & Model
Paired multi-sensor tactile data (1.59M frames) and the pretrained model checkpoint for the Heterogeneous Tactile Transformer (HTT). Four sensors — two vision-based, two taxel arrays — organized into four task splits.
| sensor | type | raw format |
|---|---|---|
gsmini |
vision (GelSight Mini) | JPEG [224, 224, 3] |
9dtact |
vision (9DTact) | JPEG [224, 224, 3] |
xela |
taxel array (Xela uSkin) | float [T, 72] |
tac02 |
taxel array (TAC-02) | float [T, 66] |
├── pretrain/ 1. self-supervised pretraining (paired episodes, fully unlabeled)
├── classification/ 2. 20-object classification (paired episodes, labeled)
├── force/ 3. 6D force estimation (static probe episodes, aligned F/T)
├── slip/ 4. slip-stage detection (sliding episodes, 3-class labels)
├── bg_data/ background/reference frames per sensor
├── htt_4sensors_best.pth pretrained HTT checkpoint (~69 MB)
├── STATS.json measured per-split statistics
├── FORMAT.md detailed per-split format documentation
└── MANIFEST.sha256 checksums for every dataset file
Model checkpoint
This repo is the single home for dataset & model. The pretrained HTT
checkpoint (htt_4sensors_best.pth, ~69 MB, SHA-256
024f4c3a067168197d0a6996bbca5c03e744ed5abd1d35a666dbf78e7ac673f0):
hf download AllenBi21/HTT-dataset htt_4sensors_best.pth --repo-type dataset --local-dir checkpoints
Inference API and training code: github.com/jxbi1010/HTT.
Statistics
One paired sample = 1 optical frame + 1 synchronized chunk of 10 taxel frames; npz splits are counted as force-aligned timesteps at native sensor rate.
| corpus | episodes | frames |
|---|---|---|
| pretrain (paired, both pairs) | 1,789 | 710,633 (64,603 optical + 646,030 array) |
| classification (paired, both pairs) | 599 | 239,184 (21,744 optical + 217,440 array) |
| force task (static + sliding modes) | 401 + 405 | 423,284 (static 209,869 + sliding 213,415) |
| slip task (sliding modes) | 405 | 213,415 |
| total | ≈ 1.59M |
Note: sliding episodes carry time-aligned 6D force as well, so they can also
serve force training; all force results in the HTT paper use static mode
only (the force/ split), and slip results use the slip/ split.
Download
hf download AllenBi21/HTT-dataset --repo-type dataset --local-dir HTT-dataset
cd HTT-dataset && sha256sum -c MANIFEST.sha256 # optional integrity check
Dataloaders for every split ship with the HTT code release
(github.com/jxbi1010/HTT); pretrained
weights: AllenBi21/HTT. Formats are
documented in FORMAT.md.
License
CC-BY-NC-4.0 (non-commercial research use).
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