Contour dataset·Slip detection
Contour Grasp-Force
Force-array grasp outcomes from Contour's tactile evaluation kit.
About this dataset
A Contour-collected dataset pairing raw 4×4 force-taxel readings with labeled grasp outcomes (stable, slipping, dropped) across 180 household objects. It captures true normal-force decay behavior, useful for training slip predictors on genuine force data rather than optical proxies. Available on request for research and evaluation.
Citation
Contour Lab. “Grasp-Force: Force-Array Grasp Outcomes.” 2026.
Proposed format
In Contour, a capture like this would read as per-frame tensors with synchronized labels, ready to stream into a training loop. Here is the shape it would take.
frame.json
{
"t": 1725312000.041,
"taxels": [[0.02, 0.05, 0.31, 0.44],
[0.03, 0.62, 0.88, 0.51],
[0.01, 0.40, 0.79, 0.33],
[0.00, 0.08, 0.22, 0.12]],
"label": "slipping",
"object_id": "mug_07"
}