metadata
pretty_name: VT-MUSE Real-World Manipulation Dataset
license: cc-by-4.0
task_categories:
- robotics
language:
- en
size_categories:
- n<1K
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.