{
  "name": "ViTaMIn",
  "url": [
    "https://huggingface.co/datasets/chuanyune/ViTaMIn-OXT"
  ],
  "version": "1.0.1",
  "description": "OXT-formatted derivative of the latest public ViTaMIn contact-rich manipulation dataset. It contains 6 single-hand UMI-style visuo-tactile tasks (747 trajectories, 361339 frames) with wrist RGB, left/right tactile images, wrist pose, and parallel-gripper opening width in metres. Larger gripper values mean more open, and the scalar is mapped to canonical FTP-1 hand/gripper slot 28. Data are processed at 30 FPS; timestamps are synthetic per-episode seconds because the public source Zarr archives do not contain a timestamp stream. Version 1.0.1 corrects all wrist and demonstration start/end rotations to the FTP-1 tool convention by right-multiplying each source rotation by Rz(+90 degrees); XYZ positions and all image/tactile/gripper streams are unchanged.",
  "type": "gripper",
  "sensor_image": [
    "ViTaMIn"
  ],
  "sensor_array": [],
  "sensor_state": [],
  "task": 6,
  "trajectory": 747,
  "frame": 361339,
  "label": [
    "umi"
  ],
  "contact": [
    "chuanyu.ne79@gmail.com"
  ],
  "reference": {
    "paper": "ViTaMIn: Learning Contact-Rich Tasks Through Robot-Free Visuo-Tactile Manipulation Interface (arXiv:2504.06156)",
    "website": "https://chuanyune.github.io/ViTaMIn_page/",
    "authors": "Fangchen Liu, Chuanyu Li, Yihua Qin, Jing Xu, Pieter Abbeel, Rui Chen"
  },
  "code_trigger": "FTP_1_Source"
}