real-stanford/multisensory_wm

MuSe data

Demonstration data of MuSe, collected by the authors.

• Code: https://github.com/jadenvc/multisensory_wm
• Paper / project page: https://arxiv.org/abs/2606.30988

Layout

raw/<task>/<timestamp>_<id>_<session>_{demonstration,grippercalibration}_{left,right}/: the original iPhone recordings of every task, one folder per recording, grouped by the task name used at collection time. An iPhone demonstration folder holds *_rgb.mp4 (main camera), *_ultrawidergb.mp4 (ultrawide camera), *_depth.raw with *_depthconfidence.mp4 / *_depthpreview.mp4 (LiDAR depth) and *.json (per-frame ARKit camera pose, intrinsics and timestamps); *_grippercalibration* folders are the gripper calibration recordings of a session. <task>/acp_replay_buffer_gripper.zarr.zip: one zarr replay buffer per processed task (per episode: main RGB, ultrawide RGB and depth frames, gripper width and pose, CoinFT wrench of each finger, and the timestamps of every stream). Every zarr store is one *.zarr.zip: an uncompressed zip of the store's files, readable in place with zarr.open(zarr.storage.ZipStore(path, mode="r")) or unpacked with unzip -d <name>.zarr <name>.zarr.zip.

Contents

path	files	GB
bigwhitevase	1	1.71
bigwhitevasestrong	1	1.28
black_cup_pick_umift	1	1.13
raw/beans_kitchen	578	4.38
raw/big_white_vase	302	4.45
raw/big_white_vase_strong	322	3.41
raw/block_into_bowl	320	2.54
raw/block_into_bowl_pb	313	2.05
raw/clean_black_cup	362	3.31
raw/grape_into_black_bowl_roundtable	236	2.30
raw/learning_misc	32	0.54
raw/onion_into_black_bowl_roundtable	2	0.00
raw/pear_pick	370	2.28
raw/pear_pick_couch	560	3.98
raw/pear_pick_table	548	4.08
raw/peg_insert_0deg_cl0.74mm	308	4.43
raw/peg_insert_20deg_cl0.6mm	308	4.95
raw/peg_insert_20deg_cl1.2mm	302	5.25
raw/peg_insert_back	548	2.65
raw/peg_insert_easy	154	0.67
raw/peg_insert_front	476	3.05
raw/peg_insert_greyred	128	0.98
raw/peg_insert_left	482	3.88
raw/peg_insert_right	476	3.79
raw/peg_rect	302	2.30
raw/peg_rect_green	266	1.91
raw/peg_white	302	2.14
raw/pick_place_v1	260	1.71
raw/pick_place_v2	302	1.92
raw/pick_place_v3	302	1.78
raw/pizza_into_bin_roundtable	182	1.92
raw/play_cupboard	122	0.98
raw/play_ethernet	128	0.95
raw/play_plug	116	0.98
raw/play_pusht	152	2.80
raw/play_rag	122	1.48
raw/play_sponge	122	1.22
raw/play_throw	110	0.67
raw/wipe_vase	942	13.16
total	10860	103.0

License

MIT, the license of the project's GitHub repository (https://github.com/jadenvc/multisensory_wm).