TacQuad: Aligned Multi-Modal Multi-Sensor Tactile Dataset

TacQuad is an aligned multi-modal multi-sensor tactile dataset collected from 4 types of visuo-tactile sensors (GelSight Mini, DIGIT, DuraGel and Tac3D). It offers a more comprehensive solution to the low standardization of visuo-tactile sensors by providing multi-sensor aligned data with text and visual images. This explicitly enables models to learn semantic-level tactile attributes and sensor-agnostic features to form a unified multi-sensor representation space through data-driven approaches. This dataset includes two subsets of paired data with different levels of alignment:

• Fine-grained spatio-temporal aligned data: This portion of the data was collected by pressing the same location of the same object at the same speed with the four sensors. It contains a total of 17,524 contact frames from 25 objects, which can be used for fine-grained tasks such as cross-sensor generation.
• Coarse-grained spatial aligned data: This portion of the data was collected by hand, with the four sensors pressing the same location on the same object, although temporal alignment is not guaranteed. It contains 55,082 contact frames from 99 objects, including both indoor and outdoor scenes, which can be used for cross-sensor matching task.

How to Use

This dataset not only includes the full TacQuad but also contains contact frames list files and text descriptions of other datasets. Specifically, the descriptions of each file are as follows:

• tacquad.zip: TacQuad dataset including coarse-grained indoor and outdoor aligned data, and fine-grained aligned data.
• text_tacquad.zip: Text features of TacQuad dataset. The features are encoded by CLIP SimpleTokenizer.
• text_other.zip: Text features of Touch and Go, ObjectFolder Real, SSVTP, TVL and Octopi dataset. The features are encoded by CLIP SimpleTokenizer.
• contact_text_*.csv: Contact frames list files with text descriptions.
• contact_*.csv: Contact frames list files without text descriptions.
• (Inside tacquad.zip) contact_*.csv: Contact frames list files with text descriptions of TacQuad dataset. The meaning of each column, in order, is: folder name, GelSight Mini contact frame start index, GelSight Mini contact frame end index, DIGIT contact frame start index, DIGIT contact frame end index, DuraGel contact frame start index, DuraGel contact frame end index, and text description.

The example dataloaders are provided in GitHub.

Citation

@inproceedings{feng2025learning,
    title={Learning Unified Static-Dynamic Representation across Multiple Visuo-tactile Sensors},
    author={Ruoxuan Feng and Jiangyu Hu and Wenke Xia and Tianci Gao and Ao Shen and Yuhao Sun and Bin Fang and Di Hu},
    booktitle={The Thirteenth International Conference on Learning Representations},
    year={2025},
    url={https://openreview.net/forum?id=XToAemis1h}
}