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VisuoTactile-GS-OXT
Open-X-Tactile / FTP-1 submission packaging of the VisuoTactile-GS dataset. The source is derived from Touch-GS.
Data
The VisuoTactile-GS/ folder contains zipped zarr datasets as required by the
OXT contribution process:
| Archive | Frames | Scene |
|---|---|---|
block.zarr.zip |
166 | textured block |
bunny_real.zarr.zip |
134 | bunny figurine |
mirror.zarr.zip |
113 | mirror (specular) |
Total: 3 tasks, 3 trajectories, and 413 frames. Each frame has one DenseTact
image channel and includes right_wrist_pose and right_hand_joints as
embodiment state.
Important pairing note
The source RGB views and tactile contacts were captured as independent sweeps and paired by pose. They have no shared original timestamp, and adjacent frames are not a continuous manipulation trajectory. Treat this as a paired visuo-tactile contact set.
Quality checks
The latest OXT metadata precheck passes all three datasets with zero errors and
zero warnings. VLM montages have been generated, but a real model-backed VLM
run remains pending because no compatible API key was available. See
submission/QC_NOTES.md and submission/oxt_check_output/.
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