# Sparsh pretraining corpus

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

- id: `sparsh-pretraining-corpus`
- kind: tactile force audio
- robot or device: DIGIT and GelSight vision-based tactile sensors (class: sensor only)
- how collected: aggregated public and new unlabeled tactile images
- size as stated: 460k+ tactile images
- hours: not stated | hours only claimed: none | episodes: not stated
- year: 2024
- organisation: Meta FAIR
- licence: CC BY-NC 4.0 (on Meta dataset cards) (class: non commercial)
- access: open (class: open)
- link (dataset): https://sparsh-ssl.github.io/
- note: Self-supervised pretraining set; pairs with TacBench.

Confirm the licence at the link before relying on it.