YCB-Slide (YCB-Slide: A tactile interaction dataset)

Introduced by Suresh et al. in MidasTouch: Monte-Carlo inference over distributions across sliding touch

The YCB-Slide dataset comprises of DIGIT sliding interactions on YCB objects. We envision this can contribute towards efforts in tactile localization, mapping, object understanding, and learning dynamics models. We provide access to DIGIT images, sensor poses, RGB video feed, ground-truth mesh models, and ground-truth heightmaps + contact masks (simulation only). This dataset is supplementary to the MidasTouch paper, a CoRL 2022 submission.


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