---
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.