# HTT dataset

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

- id: `htt-dataset`
- kind: tactile force audio
- robot or device: GelSight Mini, 9DTact, Xela uSkin, TAC-02 (class: sensor only)
- how collected: paired multi-sensor contacts
- size as stated: 1.59M frames
- hours: not stated | hours only claimed: none | episodes: not stated
- year: 2026
- organisation: not stated
- licence: CC BY-NC 4.0 (class: non commercial)
- access: open (class: open)
- link (dataset): https://huggingface.co/datasets/AllenBi21/HTT-dataset
- Hugging Face repository: `AllenBi21/HTT-dataset`, 220 downloads in 30 days, https://huggingface.co/datasets/AllenBi21/HTT-dataset
- note: Heterogeneous Tactile Transformer data, CoRL 2026.

Confirm the licence at the link before relying on it.