---
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