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Datasets:
Joshua69
/
vt-muse

Tasks:
Robotics
Languages:
English
Size:
n<1K
License:
Dataset card Data Studio Files
xet
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Commit
ab2003e
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VT-MUSE-real-world-dataset-release

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README.md ADDED
@@ -0,0 +1,55 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ ---
2
+ pretty_name: VT-MUSE Real-World Manipulation Dataset
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+ license: cc-by-4.0
4
+ task_categories:
5
+ - robotics
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+ language:
7
+ - en
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+ size_categories:
9
+ - n<1K
10
+ ---
11
+
12
+ # VT-MUSE Real-World Manipulation Dataset
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+
14
+ This dataset contains 200 real-world robot manipulation demonstrations used by
15
+ VT-MUSE. It includes four tasks with 50 demonstrations per task.
16
+
17
+ | Task | Demonstrations |
18
+ |---|---:|
19
+ | Insert Tube | 50 |
20
+ | Press Toaster | 50 |
21
+ | Pull Out Drawer | 50 |
22
+ | Wipe Board | 50 |
23
+ | **Total** | **200** |
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+
25
+ ## Data layout
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+
27
+ ```text
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+ data/
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+ insert_tube/*.hdf5
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+ press_toaster/*.hdf5
31
+ pull_out_drawer/*.hdf5
32
+ wipe_board/*.hdf5
33
+ manifest.csv
34
+ ```
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+
36
+ Each HDF5 file stores one demonstration and contains synchronized head-camera
37
+ RGB observations, bilateral GS-mini tactile RGB and depth observations, robot
38
+ end-effector and joint states, and action-related fields.
39
+
40
+ ## HDF5 schema
41
+
42
+ | Key | Description |
43
+ |---|---|
44
+ | `observation/head/rgb` | Head-camera RGB frames |
45
+ | `tactile/left_gsmini/rgb` | Left tactile RGB frames |
46
+ | `tactile/right_gsmini/rgb` | Right tactile RGB frames |
47
+ | `tactile/left_gsmini/depth` | Left tactile depth maps |
48
+ | `tactile/right_gsmini/depth` | Right tactile depth maps |
49
+ | `embodiment/ee` | End-effector state |
50
+ | `embodiment/joint` | Eight-dimensional robot joint/gripper state |
51
+ | `actor/prism`, `actor/slot` | Action-related state fields |
52
+ | `step`, `atom/id`, `atom/tag` | Sequence metadata |
53
+
54
+ `manifest.csv` records the task, file name, number of timesteps, file size, and
55
+ SHA-256 checksum for every demonstration.
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