LESS (Local Encoder for Spatial Sensing)
Description
The LESS release contains more than 800 hours of tactile palpation measurements for reconstructing the internal structure of soft breast phantoms. A Franka Panda with a gel-based tactile sensor collected controlled poke and motion-primitive trajectories, while additional sets cover larger phantoms, multiple inclusions, and hand-held sensing. Force and pose sequences are paired with MRI-derived geometry for training and evaluating local 2D and 3D tactile imaging models.
License
CC BY 4.0.*
* Double-check the publisher's current license and usage terms before using this dataset.