| --- |
| 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 |
|
|
| ```text |
| 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. |
|
|
