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README.md

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+---
+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
+

insert_tube/insert_tube.zarr.zip

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press_toaster/press_toaster.zarr.zip

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pull_out_drawer/pull_out_drawer.zarr.zip

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supplementary_tactile_note.json

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+{
+  "right_tactile_data_gripper_depth": {
+    "type": "image",
+    "shape": [2, 224, 224, 1],
+    "sensor_num": 2,
+    "sensor_dimension": [224, 224, 1],
+    "sensor_description": "Per-frame tactile depth maps from the same two GelSight Mini pads as right_tactile_data_gripper. Values are stored as float32 and spatially aligned to the standardized 224 x 224 tactile RGB streams.",
+    "sensor_idx_description": {
+      "sensor_idx_0": "GelSight Mini pad mounted on the left gripper finger in the source recording.",
+      "sensor_idx_1": "GelSight Mini pad mounted on the right gripper finger in the source recording."
+    }
+  }
+}

wipe_board/wipe_board.zarr.zip

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