VT-MUSE Real-World Manipulation Dataset

This dataset contains 200 real-world robot manipulation demonstrations used by VT-MUSE. It includes four tasks with 50 demonstrations per task.

Task	Demonstrations
Insert Tube	50
Press Toaster	50
Pull Out Drawer	50
Wipe Board	50
Total	200

Data layout

data/
  insert_tube/*.hdf5
  press_toaster/*.hdf5
  pull_out_drawer/*.hdf5
  wipe_board/*.hdf5
manifest.csv

Each HDF5 file stores one demonstration and contains synchronized head-camera RGB observations, bilateral GS-mini tactile RGB and depth observations, robot end-effector and joint states, and action-related fields.

HDF5 schema

Key	Description
observation/head/rgb	Head-camera RGB frames
tactile/left_gsmini/rgb	Left tactile RGB frames
tactile/right_gsmini/rgb	Right tactile RGB frames
tactile/left_gsmini/depth	Left tactile depth maps
tactile/right_gsmini/depth	Right tactile depth maps
embodiment/ee	End-effector state
embodiment/joint	Eight-dimensional robot joint/gripper state
actor/prism, actor/slot	Action-related state fields
step, atom/id, atom/tag	Sequence metadata

manifest.csv records the task, file name, number of timesteps, file size, and SHA-256 checksum for every demonstration.