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README.md

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----
-license: mit
----
+---
+license: mit
+tags:
+  - Embodied-AI
+  - Robotic manipulation
+  - Vision-Language-Action model
+  - Teleoperation
+  - Dexterous Hand
+task_categories:
+- robotics
+- imitation-learning
+- teleoperation
+language:
+- en
+size_categories:
+- 1K<n<10K
+preview: false
+---
+
+# VITRA Teleoperation Dataset
+
+## Dataset Summary
+
+This dataset contains real-world robot teleoperation demonstrations collected
+using a 7-DoF robotic arm equipped with a dexterous hand and a head-mounted RGB
+camera. Each episode provides synchronized **numerical state/action data**
+and **video recordings**. The dataset is used for finetuning in the project [VITRA: Scalable Vision-Language-Action Model Pretraining for Robotic Manipulation with Real-Life Human Activity Videos](https://arxiv.org/abs/2510.21571) 
+
+**Project page:** [https://microsoft.github.io/VITRA/](https://microsoft.github.io/VITRA/)
+
+---
+
+## Hardware Setup
+
+- **Robot Arm**: Realman Arm (7-DoF)  
+  URDF: https://github.com/RealManRobot/rm_models/tree/main/RM75/urdf/RM75-6F
+- **Dexterous Hand**: XHand (12-DoF)
+- **Head Camera**: Intel RealSense D455
+
+---
+
+## Data Modalities and Files
+
+Each episode consists of two synchronized files:
+
+- `<episode_id>.h5` — numerical data including robot states, actions, kinematics,
+  and metadata
+- `<episode_id>.mp4` — RGB video stream recorded from the head-mounted camera
+
+The two files correspond **one-to-one** and share the same episode identifier.
+
+---
+
+## Coordinate Frames
+
+The dataset uses the following coordinate frames:
+
+- **arm_base**  
+  Root frame of the arm kinematic chain, defined in the URDF.
+- **ee_urdf**  
+  End-effector frame defined in the URDF (joint7).
+- **hand_mount**  
+  Rigid mounting frame of the dexterous hand, including flange offset.  
+  This frame is rotationally aligned with the human hand axis illustrated in Figure 1 (identity rotation).
+- **head_camera**  
+  Optical center of the head-mounted RGB camera.
+
+
+<figure align="center">
+  <img src="figure/hand_mount_frame.png" width="700"/>
+  <figcaption><b>Figure 1.</b> The <code>hand_mount</code> frame axes. Axis directions follow the human hand definition illustrated in the figure.</figcaption>
+</figure>
+
+
+---
+
+## Arm Availability and Masks
+
+The dataset format is compatible with both **right-arm-only** episodes and **dual-arm** episodes. The currently released dataset contains only right-arm data.
+
+- Missing arms/hands are filled with zeros to keep array shapes consistent.
+- Availability is indicated by:
+  - `/meta/has_left`, `/meta/has_right` (episode-level)
+  - `/mask/*` (frame-level)
+
+---
+
+## HDF5 File Structure
+
+Each `.h5` file follows the structure below:
+```
+/
+├── meta/
+│   ├── instruction                     string
+│   ├── video_path                      string
+│   ├── frame_count                     int # T
+│   ├── fps                             float
+│   ├── has_left                        bool
+│   ├── has_right                       bool
+│
+├── kinematics/
+│   ├── left_ee_urdf_to_hand_mount      (4, 4) float64
+│   ├── right_ee_urdf_to_hand_mount     (4, 4) float64
+│   ├── head_camera_to_left_arm_base    (4, 4) float64
+│   └── head_camera_to_right_arm_base   (4, 4) float64
+│
+├── observation/
+│   └── camera/
+│       └── intrinsics                   (3, 3) float64
+│
+├── state/
+│   ├── left_arm_joint                   (T, Na) float64  # joint positions (rad)
+│   ├── right_arm_joint                  (T, Na) float64
+│   ├── left_hand_mount_pose             (T, 6)  float64  # hand_mount pose in arm_base: [x,y,z,rx,ry,rz]
+│   ├── right_hand_mount_pose            (T, 6)  float64  # hand_mount pose in arm_base: [x,y,z,rx,ry,rz]
+|   ├── left_hand_mount_pose_in_cam      (T, 6)  float64  # hand_mount pose in head_camera: [x,y,z,rx,ry,rz]
+|   ├── right_hand_mount_pose_in_cam     (T, 6)  float64  # hand_mount pose in head_camera: [x,y,z,rx,ry,rz]
+│   ├── left_hand_joint                  (T, Nh) float64
+│   └── right_hand_joint                 (T, Nh) float64
+│
+├── action/
+│   ├── left_arm_joint                   (T, Na) float64  # target joint positions (rad)
+│   ├── right_arm_joint                  (T, Na) float64  # target joint positions (rad)
+│   ├── left_hand_joint                  (T, Nh) float64  # target joint positions (rad)
+│   └── right_hand_joint                 (T, Nh) float64  # target joint positions (rad)
+│
+└── mask/
+    ├── left_arm                         (T,) bool
+    ├── right_arm                        (T,) bool
+    ├── left_hand                        (T,) bool
+    └── right_hand                       (T,) bool
+```
+
+---
+
+## Pose Representation
+
+For all `*_hand_mount_pose` entries, poses are represented as:
+
+```
+[x, y, z, rx, ry, rz]
+```
+
+where:
+- `(x, y, z)` denotes the position of the `hand_mount` frame expressed in
+  `arm_base` (meters)
+- `(rx, ry, rz)` denotes the rotation vector in axis–angle representation
+  (radians)
+
+---
+
+## Transformation Notation
+
+A homogeneous transformation matrix is denoted by `T` (4×4).
+
+- **Subscript**: reference frame (the coordinate system used for expression)
+- **Superscript**: target frame (the frame being described)
+
+All subscripts and superscripts are written on the **right-hand side** of `T`.
+
+Example: $T^{hand\_mount}_{arm\_base}$ represents the pose of `hand_mount`
+expressed in the `arm_base` frame.
+
+---
+
+## Kinematic Relations and Episode-Specific Transforms
+
+Different flange hardware or camera mounting configurations may be used across
+episodes or arms. As a result:
+
+> **All kinematic and extrinsic transforms must be read from the current
+> episode and must not be assumed constant.**
+
+The hand mounting pose expressed in `arm_base` is computed as:
+
+$$
+T^{hand\_mount}_{arm\_base}
+=
+T^{ee\_urdf}_{arm\_base}
+\cdot
+T^{hand\_mount}_{ee\_urdf}
+$$
+
+where:
+
+- $T^{ee\_urdf}_{arm\_base}$ is obtained via forward kinematics (FK) from the arm
+  joint positions, corresponding to the URDF end-effector frame (joint7).
+- $T^{hand\_mount}_{ee\_urdf}$ is a fixed, episode-specific transform provided under
+  `/kinematics/*_ee_urdf_to_hand_mount`.
+
+**Camera extrinsics may also vary across episodes.**  
+Transforms under `/kinematics/head_camera_to_*_arm_base` should likewise be
+read from the current episode and must not be assumed constant.
+The hand mounting pose expressed in `head_camera` frame (i.e. `*_hand_mount_pose_in_cam`) is: 
+
+$$
+T^{hand\_mount}_{head\_camera} 
+=
+(T^{head\_camera}_{arm\_base})^{-1}
+\cdot
+T^{hand\_mount}_{arm\_base} 
+$$
+
+where:
+
+- $T^{head\_camera}_{arm\_base}$ is episode-specific transform provided under  `/kinematics/head_camera_to_*_arm_base`
+
+---

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