| --- |
| license: mit |
| tags: |
| - Embodied-AI |
| - Robotic manipulation |
| - Vision-Language-Action model |
| - Teleoperation |
| - Dexterous Hand |
| task_categories: |
| - robotics |
| 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. |
| |
| <p align="center"> |
| <img src="figure/hand_mount_frame.png" width="700"><br> |
| <em> <b> Figure 1.</b> The <code>hand_mount</code> frame axes. Axis directions follow the human hand definition illustrated in the figure.</em> |
| </p> |
|
|
| --- |
|
|
| ## 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` |
| |
| --- |
