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README.md

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 ---
 license: bsd-3-clause
+task_categories:
+- robotics
+tags:
+- fingernet
+- asfinger
+size_categories:
+- 100K<n<1M
 ---
+
+# FingerNet-100K
+
+This dataset contains 100K samples of data for FingerNet, generated by finite element simulations.
+
+## Dataset Schema
+
+There are two subsets in this dataset:
+
+- **finger**: Contains 100,000 samples of typical asFinger.
+- **finger_surf**: Contains 100,000 samples of asFinger with a contact surface.
+
+Each sample in this dataset contains three components:
+
+- **motion** (`List[float]`, shape = [6])  
+  The 6D motion of the finger, including the translation (dx, dy, dz) in `mm`, and rotation (rx, ry, rz) in `rad`.
+
+- **force** (`List[float]`, shape = [6])  
+  The 6D force and torque on the bottom surface of the finger, corresponding to (fx, fy, fz, tx, ty, tz) in `N` and `Nmm`.
+
+- **nodes** (`List[float]`, shape = [Nx3])  
+  The 3D displacement of N surface nodes of the finger, and each node `i` is represented as `[node_i_dx, node_i_dy, node_i_dz]` in `mm`.
+
+## Usage
+
+```python
+from datasets import load_dataset
+
+dataset = load_dataset("asRobotics/fingernet-100k")
+
+# Access the 'finger' subset
+finger_data = dataset['finger']
+
+```
+
+## Citation
+
+If you use this model in your research, please cite the following papers:
+
+```bibtex
+@article{guo2024proprioceptive,
+  title={Proprioceptive State Estimation for Amphibious Tactile Sensing},
+  author={Guo, Ning and Han, Xudong and Zhong, Shuqiao and Zhou, Zhiyuan and Lin, Jian and Dai, Jian S and Wan, Fang and Song, Chaoyang},
+  journal={IEEE Transactions on Robotics},
+  volume={40},
+  pages={4684-4698},
+  year={2024},
+  publisher={IEEE},
+  doi={10.1109/TRO.2024.3463509}
+}
+```
+
+```bibtex
+@article{liu2024proprioceptive,
+  title={Proprioceptive learning with soft polyhedral networks},
+  author={Liu, Xiaobo and Han, Xudong and Hong, Wei and Wan, Fang and Song, Chaoyang},
+  journal={The International Journal of Robotics Research},
+  volume = {43},
+  number = {12},
+  pages = {1916-1935},
+  year = {2024},
+  publisher={SAGE Publications Sage UK: London, England},
+  doi = {10.1177/02783649241238765}
+}
+```
+
+```bibtex
+@article{han2025anchoring,
+    title={Anchoring Morphological Representations Unlocks Latent Proprioception in Soft Robots},
+    author={Han, Xudong and Guo, Ning and Xu, Ronghan and Wan, Fang and Song, Chaoyang},
+    journal={Advanced Intelligent Systems},
+    pages={2500444},
+    year={2025},
+    publisher={Wiley Online Library},
+    doi={10.1002/aisy.202500444}
+}
+```

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