The dataset viewer is not available because its heuristics could not detect any supported data files. You can try uploading some data files, or configuring the data files location manually.
vistadata-bimanual
Bimanual VistaData for Open-X-Tactile.
Contact-rich dual-Franka unscrew-coffee-jar demonstrations with GelSight Mini tactile RGB.
Paper website: https://vista-paper.github.io/
Version 1.0.1 corrects both wrist orientations to the FTP-1 gripper/UMI
canonical frame: in each wrist-camera view, x points down, y points left,
and z points forward.
Layout
vistadata-bimanual/
unscrew_coffee_jar.zarr.zip
Unzip the archive to get the original unscrew_coffee_jar.zarr directory.
Quick start
pip install huggingface_hub zarr
python load_oxt_zarr.py
Embodiment
2× Franka + dual parallel grippers + GelSight Mini on the right arm's left fingertip + left/right wrist Gemini 335 + third-person RealSense D435.
Format follows the FTP-1 / Open-X-Tactile zarr contract.
Notes
- Gripper
hand_joints_idx= 28 - Tactile MTTS functional area = 0 (
type=image,sensor=GelSightMini, shape(T, 1, H, W, 3)) - Contact: klhwong3@link.cuhk.edu.hk
- Unimanual tasks are a separate dataset:
vistadata
- Downloads last month
- 85