| --- |
| license: cc-by-nc-4.0 |
| task_categories: |
| - robotics |
| language: |
| - en |
| tags: |
| - robotics |
| - manipulation |
| - multimodal |
| - vla |
| - acoustic |
| - thermal |
| - radar |
| size_categories: |
| - 10K<n<100K |
| pretty_name: MuseVLA Dataset |
| arxiv: |
| - 2606.17598 |
| --- |
| |
| <div align="center"> |
| <span style="font-size:32px;">MuseVLA Dataset</span> |
| </div> |
|
|
| <p align="center"> |
| <a href="https://arxiv.org/abs/2606.17598"><img src="https://img.shields.io/badge/arXiv-Paper-red?logo=arxiv&logoColor=white" alt="arXiv"></a> |
| <a href="https://github.com/microsoft/MuseVLA"><img src="https://img.shields.io/badge/Code-GitHub-181717?logo=github&logoColor=white" alt="Code Repository"></a> |
| <a href="https://huggingface.co/microsoft/MuseVLA"><img src="https://img.shields.io/badge/%F0%9F%A4%97%20Hugging%20Face-Model-blue" alt="Hugging Face Model"></a> |
| </p> |
|
|
| Multi-modal robot manipulation dataset with synchronized RGB, depth, acoustic, |
| thermal, and radar streams. Released as two parts (`dataset_01/`, |
| `dataset_02/`) sharing the same per-episode layout. Together they cover |
| ~1400 episodes across 11 instructions (towel / clothes / box / item / drink |
| manipulation). |
|
|
| ## Per-episode contents |
|
|
| ``` |
| {episode_name}/ |
| ├── video.mp4 # RGB, 1280×720, 30 fps |
| ├── mask/video.mp4 # SAM3 segmentation mask |
| ├── depth/images/ # depth jpgs |
| ├── acoustic/{images,images_masked}/ # spectrogram + 3 overlay variants |
| ├── radar/{images,images_masked}/ # radar + 3 overlay variants |
| ├── thermal/{left,right,images,images_masked}/ # left / right / merged / overlays |
| ├── 6d_pose/right_arm.npy # end-effector trajectory |
| ├── arm_command/, arm_status/, ee_command/, hand_status/ # control signals |
| ``` |
|
|
| Annotations live under `*_labels/{episode}.json` with per-segment |
| `instruction`, `start`, `end`, plus `_validity.json` recording SAM3 validity. |
| Top-level `instructions_all.json`, `valid_samples.json`, and |
| `statistics_6dpose_delta_NRt0.json` are provided for indexing and |
| normalization. |
|
|
| ## Statistics |
|
|
| | Episodes | Valid | Annotated segments | Unique instructions | RGB | Frame rate | |
| |---:|---:|---:|---:|---|---| |
| | 1397 (1279 + 118) | 1010 (913 + 97) | 1930 (1737 + 193) | 11 | 1280 × 720 | 30 fps | |
|
|
| ## Citation |
|
|
| ```bibtex |
| @misc{liu2026musevlaadaptivemultimodalsensing, |
| title={MuseVLA: An Adaptive Multimodal Sensing Vision-Language-Action Model for Robotic Manipulation}, |
| author={Xingyuming Liu and Ruichun Ma and Heyu Guo and Qixiu Li and Qingwen Yang and Lin Luo and Shiqi Jiang and Chenren Xu and Jiaolong Yang and Baining Guo}, |
| year={2026}, |
| eprint={2606.17598}, |
| archivePrefix={arXiv}, |
| primaryClass={cs.RO}, |
| url={https://arxiv.org/abs/2606.17598}, |
| } |
| ``` |
|
|
| ## License |
|
|
| CC-BY-NC-4.0 (research use only). |
|
|
