The dataset viewer is not available for this dataset.
Cannot get the config names for the dataset.
Error code:   ConfigNamesError
Exception:    BadZipFile
Message:      zipfiles that span multiple disks are not supported
Traceback:    Traceback (most recent call last):
                File "/src/services/worker/src/worker/job_runners/dataset/", line 72, in compute_config_names_response
                  config_names = get_dataset_config_names(
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/", line 347, in get_dataset_config_names
                  dataset_module = dataset_module_factory(
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/", line 1910, in dataset_module_factory
                  raise e1 from None
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/", line 1885, in dataset_module_factory
                  return HubDatasetModuleFactoryWithoutScript(
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/", line 1270, in get_module
                  module_name, default_builder_kwargs = infer_module_for_data_files(
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/", line 589, in infer_module_for_data_files
                  split_modules = {
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/", line 590, in <dictcomp>
                  split: infer_module_for_data_files_list(data_files_list, download_config=download_config)
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/", line 531, in infer_module_for_data_files_list
                  return infer_module_for_data_files_list_in_archives(data_files_list, download_config=download_config)
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/", line 559, in infer_module_for_data_files_list_in_archives
                  for f in xglob(extracted, recursive=True, download_config=download_config)[
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/utils/", line 1291, in xglob
                  fs, *_ = url_to_fs(urlpath, **storage_options)
                File "/src/services/worker/.venv/lib/python3.9/site-packages/fsspec/", line 395, in url_to_fs
                  fs = filesystem(protocol, **inkwargs)
                File "/src/services/worker/.venv/lib/python3.9/site-packages/fsspec/", line 293, in filesystem
                  return cls(**storage_options)
                File "/src/services/worker/.venv/lib/python3.9/site-packages/fsspec/", line 80, in __call__
                  obj = super().__call__(*args, **kwargs)
                File "/src/services/worker/.venv/lib/python3.9/site-packages/fsspec/implementations/", line 62, in __init__
         = zipfile.ZipFile(
                File "/usr/local/lib/python3.9/", line 1266, in __init__
                File "/usr/local/lib/python3.9/", line 1329, in _RealGetContents
                  endrec = _EndRecData(fp)
                File "/usr/local/lib/python3.9/", line 286, in _EndRecData
                  return _EndRecData64(fpin, -sizeEndCentDir, endrec)
                File "/usr/local/lib/python3.9/", line 232, in _EndRecData64
                  raise BadZipFile("zipfiles that span multiple disks are not supported")
              zipfile.BadZipFile: zipfiles that span multiple disks are not supported

Need help to make the dataset viewer work? Open a discussion for direct support.

Foundation Tactile (FoTa) - a multi-sensor multi-task large dataset for tactile sensing

This repository stores the FoTa dataset and the pretrained checkpoints of Transferable Tactile Transformers (T3).

Paper Code Colab

[Project Website]

Jialiang (Alan) Zhao, Yuxiang Ma, Lirui Wang, and Edward H. Adelson



FoTa was released with Transferable Tactile Transformers (T3) as a large dataset for tactile representation learning. It aggregates some of the largest open-source tactile datasets, and it is released in a unified WebDataset format.

Fota contains over 3 million tactile images collected from 13 camera-based tactile sensors and 11 tasks.

File structure

After downloading and unzipping, the file structure of FoTa looks like:

    |---- train
        |---- count.txt
        |---- data_000000.tar
        |---- data_000001.tar
        |---- ...
    |---- val
        |---- count.txt
        |---- data_000000.tar
        |---- ...

Each .tar file is one sharded dataset. At runtime, wds (WebDataset) api automatically loads, shuffles, and unpacks all shards on demand. The nicest part of having a .tar file, instead of saving all raw data into matrices (e.g. .npz for zarr), is that .tar is easy to visualize without the need of any code. Simply double click on any .tar file to check its content.

Although you will never need to unpack a .tar manually (wds does that automatically), it helps to understand the logic and file structure.

    |---- file_name_1.jpg
    |---- file_name_1.json
    |---- file_name_n.jpg
    |---- file_name_n.json

The .jpg files are tactile images, and the .json files store task-specific labels.

For more details on operations of the paper, checkout our GitHub repository and Colab tutorial.

Getting started

Checkout our Colab for a step-by-step tutorial!

Download and unpack

Download either with the web interface or using the python interface:

pip install huggingface_hub

then inside a python script or in ipython, run the following:

from huggingface_hub import snapshot_download

snapshot_download(repo_id="alanz-mit/FoundationTactile", repo_type="dataset", local_dir=".", local_dir_use_symlinks=False)

To unpack the dataset which has been split into many .zip files:

cd dataset
zip -s 0 --out


      title={Transferable Tactile Transformers for Representation Learning Across Diverse Sensors and Tasks}, 
      author={Jialiang Zhao and Yuxiang Ma and Lirui Wang and Edward H. Adelson},

MIT License.

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