AnyTouch2 / ToucHD

dataset paper
BAAI
Tactile Hierarchical Dynamic dataset with 2.4M+ contact samples for embodied AI. ToucHD-Force collects 722,436 touch-force pairs using five tactile sensors and 71 distinct indenters. Enriches higher-tier dynamic tactile data for robot manipulation. Three sub-datasets cover force sensing, simulation, and manipulation tasks.
Project PagePaper (arXiv)HuggingFace (Force)HuggingFace (Sim)HuggingFace (Mani)

Outputs 2

ToucHD Dataset

dataset

2.4M+ contact samples across three sub-datasets covering force sensing, simulation, and manipulation tasks.

HuggingFace (Force)HuggingFace (Sim)HuggingFace (Mani)

AnyTouch2: ToucHD Paper

paper
Paper (arXiv)Project Page

arXiv: 2602.09617

datasetembodied

Related

Notes

BAAI-affiliated authors: Ruoxuan Feng, Pengwei Wang, Shaowei Cui, Bin Fang, Guocai Yao, Di Hu. Joint work with Renmin University of China, Beijing Jiaotong University, Shanghai AI Laboratory, Chinese Academy of Sciences, BUPT, and Peking University.