# GelSight Mini Pretrain

From the catalogue. Listed by one researcher from one source page.

- id: `gelsight-mini-pretrain`
- kind: tactile force audio
- robot or device: GelSight Mini, real and Taxim-simulated (class: sensor only)
- how collected: aggregated from 12 public sources
- size as stated: about 853K frames (536K real, 317K sim)
- hours: not stated | hours only claimed: none | episodes: not stated
- year: 2026
- organisation: not stated (yxma)
- licence: CC BY 4.0 (class: open)
- access: open (class: open)
- link (dataset): https://huggingface.co/datasets/yxma/gelsight-mini-pretrain
- Hugging Face repository: `yxma/gelsight-mini-pretrain`, 868 downloads in 30 days, https://huggingface.co/datasets/yxma/gelsight-mini-pretrain
- note: Unified parquet schema; NC extension adds 66K Sparsh frames.

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