The authors release a Gymnasium-compatible benchmark with four active tactile tasks, 13,580 3D digit models, and 153,600 real touches on 600 printed digits.
Learning efficient haptic shape exploration with a rigid tactile sensor array.PloS one, 15(1):e0226880, 2020
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Tactile MNIST: Benchmarking Active Tactile Perception
The authors release a Gymnasium-compatible benchmark with four active tactile tasks, 13,580 3D digit models, and 153,600 real touches on 600 printed digits.