| --- |
| pretty_name: VT-MUSE Real-World Visuotactile Manipulation Dataset |
| task_categories: |
| - robotics |
| language: |
| - en |
| tags: |
| - robotics |
| - tactile-sensing |
| - visuotactile |
| - manipulation |
| - open-x-tactile |
| --- |
| |
| # VT-MUSE Real-World Visuotactile Manipulation Dataset |
|
|
| This repository hosts the real-world tactile manipulation data contributed with VT-MUSE to the [Open-X-Tactile (OXT) dataset](https://open-x-tactile.github.io/). |
|
|
| The release follows the FTP-1-compatible Zarr organization required by OXT. Each task is distributed as an independently downloadable ZIP archive containing one standardized Zarr dataset. |
|
|
| ## Dataset contents |
|
|
| | Sub-dataset | Trajectories | |
| | --- | ---: | |
| | `insert_tube` | 250 | |
| | `press_toaster` | 100 | |
| | `pull_out_drawer` | 100 | |
| | `wipe_board` | 201 | |
| | **Total** | **651** | |
|
|
| The standardized release contains 192,225 temporally aligned frames. It includes the 200 trajectories used for the final VT-MUSE real-world experiments (50 per task) and 451 additional valid real-world trajectories. The authoritative episode-level split is recorded in the OXT submission manifest. |
|
|
| ## Repository layout |
|
|
| ```text |
| insert_tube/ |
| insert_tube.zarr.zip |
| press_toaster/ |
| press_toaster.zarr.zip |
| pull_out_drawer/ |
| pull_out_drawer.zarr.zip |
| wipe_board/ |
| wipe_board.zarr.zip |
| README.md |
| supplementary_tactile_note.json |
| ``` |
|
|
| ## Sensors and observations |
|
|
| - Fixed third-person RGB camera, exported as `camera_main_rgb`. |
| - Robot state/action: seven arm joints and one gripper degree of freedom. |
| - Two GelSight Mini tactile pads, with aligned tactile RGB observations. |
| - Supplemental per-pad tactile depth maps are documented in `supplementary_tactile_note.json`. |
|
|
| ## Format and quality control |
|
|
| The archives use the OXT/FTP-1-compatible Zarr schema. Metadata and structure validation was run with the official [OXT-QC toolkit](https://github.com/nolann030628/OXT-QC). The four task-level Zarr datasets passed the metadata precheck with no reported errors or warnings. |
|
|
| For the data-format specification and the broader collection, visit the [Open-X-Tactile website](https://open-x-tactile.github.io/). |
|
|
| ## Institution and contact |
|
|
| Shanghai Jiao Tong University |
| Contact: acondaway@sjtu.edu.cn |
|
|
|
|
