touchtronix/FusionX-Multimodal-Sample-Data-V3

FusionX Multimodal Sample Dataset (V3)

This repository contains a multimodal dataset capturing synchronized stereo vision, RGB, IMU, and tactile glove data across 11 distinct tasks. It is intended for research in multimodal perception, manipulation learning, and tactile-vision fusion.

Dataset Overview

Each task is captured with the following synchronized modalities:

• Mono Stereo Vision — Left and right monochrome camera streams stored as raw .png files at 640×400 resolution.
• RGB — Color camera stream stored as .jpg files at 720p.
• IMU — Inertial measurements from the on-board OAK IMU, stored in oak_imu.parquet.
• Tactile — Per-frame glove sensor data aligned with vision, stored in frames.parquet.
• Calibration — Intrinsic and extrinsic camera parameters in calib.json.

Coordinate Systems & Alignment

To facilitate 3D reconstruction and multimodal learning, alignment is defined as follows:

• Monochrome Stereo — Left and right monochrome cameras operate in their own independent coordinate frames. Extrinsics between them are provided in calib.json.
• Tactile ↔ Vision — Per-frame alignment between glove readings and image frames is provided via the index in frames.parquet.

Resolution note: RGB is 720p while the monochrome streams are 640×400.

Repository Structure

The dataset is organized by task. Each task folder follows the same layout:

Dataset-V3/
├── task1/
│   ├── calib.json
│   ├── frames.parquet
│   ├── oak_imu.parquet
│   ├── mono_left/
│   │   ├── 000001.png
│   │   ├── 000002.png
│   │   └── ...
│   ├── mono_right/
│   │   ├── 000001.png
│   │   ├── 000002.png
│   │   └── ...
│   └── rgb/
│       ├── 000001.jpg
│       ├── 000002.jpg
│       └── ...
├── task2/
│   └── ...
├── ...
└── task11/
    └── ...

How to Use

Download with huggingface_hub

Download a single task:

from huggingface_hub import snapshot_download

snapshot_download(
    repo_id="touchtronix/FusionX-Multimodal-Sample-Data-V3",
    repo_type="dataset",
    allow_patterns="strap1/*",
    local_dir="./fusionx_v3",
)

Download the full dataset:

snapshot_download(
    repo_id="touchtronix/FusionX-Multimodal-Sample-Data-V3",
    repo_type="dataset",
    local_dir="./fusionx_v3",
)

Load the per-frame index

import pandas as pd

frames = pd.read_parquet("fusionx_v3/strap1/frames.parquet")
imu    = pd.read_parquet("fusionx_v3/strap1/oak_imu.parquet")

Read calibration

import json

with open("fusionx_v3/strap1/calib.json") as f:
    calib = json.load(f)

License

Creative Commons Attribution 4.0 (CC BY 4.0)

You are free to:

• Use — Incorporate the data into your own projects.
• Share — Copy and redistribute the material in any medium or format.
• Modify — Remix, transform, and build upon the material.
• Commercial Use — Use the data for commercial purposes.

…as long as appropriate attribution is provided to Touchtronix Robotics.

Citation

@misc{touchtronix_fusionx_v3_2026,
  title  = {FusionX Multimodal Sample Dataset (V3)},
  author = {Touchtronix Robotics},
  year   = {2026},
  url    = {https://huggingface.co/datasets/touchtronix/FusionX-Multimodal-Sample-Data-V3},
}