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actor dict | atom dict | embodiment dict | observation dict | step int64 | tactile dict |
|---|---|---|---|---|---|
{"prism":[0.6807932257652283,-0.1107272282242775,0.2805875241756439,-0.002575279911980033,0.99953031(...TRUNCATED) | {
"id": 0,
"tag": [
109,
111,
118,
101
]
} | {"ee":[0.6819280982017517,-0.11450997740030289,0.2814546823501587,-0.004167799837887287,0.9997499585(...TRUNCATED) | {
"head": {
"rgb": [
255,
216,
255,
224
]
}
} | 0 | {"left_gsmini":{"depth":[[0.010589599609375,0.010589599609375,0.010685762390494347,0.011647383682429(...TRUNCATED) |
{"prism":[0.6808901429176331,-0.1107635498046875,0.2802615463733673,-0.0026482699904590845,0.9995251(...TRUNCATED) | {
"id": 0,
"tag": [
109,
111,
118,
101
]
} | {"ee":[0.6821363568305969,-0.11464513838291168,0.2816205322742462,-0.004316657781600952,0.9997353553(...TRUNCATED) | {
"head": {
"rgb": [
255,
216,
255,
224
]
}
} | 1 | {"left_gsmini":{"depth":[[0.010589599609375,0.010589599609375,0.010685762390494347,0.011647383682429(...TRUNCATED) |
{"prism":[0.6810317635536194,-0.1108345091342926,0.28000378608703613,-0.00265262252651155,0.99952381(...TRUNCATED) | {
"id": 0,
"tag": [
109,
111,
118,
101
]
} | {"ee":[0.6823359727859497,-0.11482153832912445,0.2817057967185974,-0.004474884830415249,0.9997251629(...TRUNCATED) | {
"head": {
"rgb": [
255,
216,
255,
224
]
}
} | 2 | {"left_gsmini":{"depth":[[0.010589599609375,0.010589599609375,0.010685762390494347,0.011647383682429(...TRUNCATED) |
{"prism":[0.6811800599098206,-0.11091756075620651,0.27984514832496643,-0.0026596481911838055,0.99952(...TRUNCATED) | {
"id": 0,
"tag": [
109,
111,
118,
101
]
} | {"ee":[0.6825037598609924,-0.11503864824771881,0.2817118465900421,-0.004553345497697592,0.9997189044(...TRUNCATED) | {
"head": {
"rgb": [
255,
216,
255,
224
]
}
} | 3 | {"left_gsmini":{"depth":[[0.010589599609375,0.010589599609375,0.010685762390494347,0.011647383682429(...TRUNCATED) |
{"prism":[0.6813127994537354,-0.11093711107969284,0.27974140644073486,-0.0026745558716356754,0.99952(...TRUNCATED) | {
"id": 0,
"tag": [
109,
111,
118,
101
]
} | {"ee":[0.6826593279838562,-0.1152576357126236,0.2816809117794037,-0.004607276991009712,0.99971485137(...TRUNCATED) | {
"head": {
"rgb": [
255,
216,
255,
224
]
}
} | 4 | {"left_gsmini":{"depth":[[0.00782012939453125,0.00782012939453125,0.007935842499136925,0.00909296702(...TRUNCATED) |
{"prism":[0.6813983917236328,-0.11088237911462784,0.27968427538871765,-0.0026948137674480677,0.99952(...TRUNCATED) | {
"id": 0,
"tag": [
109,
111,
118,
101
]
} | {"ee":[0.6827647686004639,-0.1154065653681755,0.28161099553108215,-0.004668084438890219,0.9997109770(...TRUNCATED) | {
"head": {
"rgb": [
255,
216,
255,
224
]
}
} | 5 | {"left_gsmini":{"depth":[[0.00782012939453125,0.00782012939453125,0.007935842499136925,0.00909296702(...TRUNCATED) |
{"prism":[0.6814307570457458,-0.11084802448749542,0.2796761393547058,-0.0027120541781187057,0.999521(...TRUNCATED) | {
"id": 0,
"tag": [
109,
111,
118,
101
]
} | {"ee":[0.6828354001045227,-0.11546950042247772,0.28152456879615784,-0.004707746673375368,0.999707579(...TRUNCATED) | {
"head": {
"rgb": [
255,
216,
255,
224
]
}
} | 6 | {"left_gsmini":{"depth":[[0.004177093505859375,0.004177093505859375,0.004301786422729492,0.005548715(...TRUNCATED) |
{"prism":[0.6814436912536621,-0.11082824319601059,0.2797015309333801,-0.0027227511163800955,0.999521(...TRUNCATED) | {
"id": 0,
"tag": [
109,
111,
118,
101
]
} | {"ee":[0.6828848123550415,-0.1154732033610344,0.28143593668937683,-0.004726989194750786,0.9997051954(...TRUNCATED) | {
"head": {
"rgb": [
255,
216,
255,
224
]
}
} | 7 | {"left_gsmini":{"depth":[[0.0028247833251953125,0.0028247833251953125,0.002959052799269557,0.0043017(...TRUNCATED) |
{"prism":[0.6814602017402649,-0.11083412915468216,0.27975159883499146,-0.002720353426411748,0.999522(...TRUNCATED) | {
"id": 0,
"tag": [
109,
111,
118,
101
]
} | {"ee":[0.682905375957489,-0.11545517295598984,0.28136441111564636,-0.004744668956845999,0.9997038841(...TRUNCATED) | {
"head": {
"rgb": [
255,
216,
255,
224
]
}
} | 8 | {"left_gsmini":{"depth":[[0.0028247833251953125,0.0028247833251953125,0.002959052799269557,0.0043017(...TRUNCATED) |
{"prism":[0.681503176689148,-0.11103526502847672,0.27993786334991455,-0.0028001077007502317,0.999532(...TRUNCATED) | {
"id": 0,
"tag": [
109,
111,
118,
101
]
} | {"ee":[0.6829172372817993,-0.11547323316335678,0.281358003616333,-0.004758527968078852,0.99970453977(...TRUNCATED) | {
"head": {
"rgb": [
255,
216,
255,
224
]
}
} | 9 | {"left_gsmini":{"depth":[[0.006763458251953125,0.006763458251953125,0.006871303077787161,0.007949749(...TRUNCATED) |
End of preview.
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.
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