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Place the towel into the basket. | 160 | 336 | acoustic_data/2026_01_13_14_49_05_024 | [
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Pick up the towel covering the ringing phone. | 30 | 234 | acoustic_data/2026_01_13_14_49_05_025 | [
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Place the towel into the basket. | 228 | 364 | acoustic_data/2026_01_13_14_49_05_025 | [
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Pick up the towel covering the ringing phone. | 14 | 212 | acoustic_data/2026_01_13_14_49_05_026 | [
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Place the towel into the basket. | 202 | 346 | acoustic_data/2026_01_13_14_49_05_026 | [
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Pick up the towel covering the ringing phone. | 15 | 182 | acoustic_data/2026_01_13_14_49_05_027 | [
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Place the towel into the basket. | 171 | 317 | acoustic_data/2026_01_13_14_49_05_027 | [
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Pick up the towel covering the ringing phone. | 24 | 280 | acoustic_data/2026_01_13_14_49_05_028 | [
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Place the towel into the basket. | 266 | 424 | acoustic_data/2026_01_13_14_49_05_028 | [
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Pick up the towel covering the ringing phone. | 13 | 175 | acoustic_data/2026_01_13_14_49_05_029 | [
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Place the towel into the basket. | 174 | 312 | acoustic_data/2026_01_13_14_49_05_029 | [
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Pick up the towel covering the ringing phone. | 19 | 191 | acoustic_data/2026_01_13_14_49_05_030 | [
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Place the towel into the basket. | 186 | 322 | acoustic_data/2026_01_13_14_49_05_030 | [
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Pick up the towel covering the ringing phone. | 19 | 201 | acoustic_data/2026_01_13_14_49_05_031 | [
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Place the towel into the basket. | 192 | 349 | acoustic_data/2026_01_13_14_49_05_031 | [
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Pick up the towel covering the ringing phone. | 23 | 197 | acoustic_data/2026_01_13_14_49_05_032 | [
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Place the towel into the basket. | 189 | 315 | acoustic_data/2026_01_13_14_49_05_032 | [
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Pick up the towel covering the ringing phone. | 21 | 213 | acoustic_data/2026_01_13_14_49_05_034 | [
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Place the towel into the basket. | 203 | 337 | acoustic_data/2026_01_13_14_49_05_034 | [
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Pick up the towel covering the ringing phone. | 17 | 193 | acoustic_data/2026_01_13_14_49_05_035 | [
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Place the towel into the basket. | 184 | 349 | acoustic_data/2026_01_13_14_49_05_035 | [
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Pick up the towel covering the ringing phone. | 21 | 168 | acoustic_data/2026_01_13_15_17_12_000 | [
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Place the towel into the basket. | 164 | 323 | acoustic_data/2026_01_13_15_17_12_000 | [
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Pick up the towel covering the ringing phone. | 22 | 207 | acoustic_data/2026_01_13_15_17_12_001 | [
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Place the towel into the basket. | 199 | 365 | acoustic_data/2026_01_13_15_17_12_001 | [
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Pick up the towel covering the ringing phone. | 26 | 202 | acoustic_data/2026_01_13_15_17_12_002 | [
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Place the towel into the basket. | 195 | 368 | acoustic_data/2026_01_13_15_17_12_002 | [
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2... |
Pick up the towel covering the ringing phone. | 20 | 191 | acoustic_data/2026_01_13_15_17_12_003 | [
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... |
Place the towel into the basket. | 186 | 312 | acoustic_data/2026_01_13_15_17_12_003 | [
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2... |
Pick up the towel covering the ringing phone. | 12 | 201 | acoustic_data/2026_01_13_15_17_12_004 | [
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... |
Place the towel into the basket. | 197 | 326 | acoustic_data/2026_01_13_15_17_12_004 | [
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2... |
Pick up the towel covering the ringing phone. | 6 | 242 | acoustic_data/2026_01_13_15_17_12_005 | [
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59... |
Place the towel into the basket. | 234 | 356 | acoustic_data/2026_01_13_15_17_12_005 | [
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2... |
Pick up the towel covering the ringing phone. | 8 | 212 | acoustic_data/2026_01_13_15_17_12_006 | [
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... |
Place the towel into the basket. | 205 | 342 | acoustic_data/2026_01_13_15_17_12_006 | [
205,
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Pick up the towel covering the ringing phone. | 20 | 204 | acoustic_data/2026_01_13_15_17_12_010 | [
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Place the towel into the basket. | 200 | 365 | acoustic_data/2026_01_13_15_17_12_010 | [
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Pick up the towel covering the ringing phone. | 0 | 198 | acoustic_data/2026_01_13_15_17_12_011 | [
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Place the towel into the basket. | 186 | 333 | acoustic_data/2026_01_13_15_17_12_011 | [
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Pick up the towel covering the ringing phone. | 28 | 181 | acoustic_data/2026_01_13_15_17_12_012 | [
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Place the towel into the basket. | 174 | 334 | acoustic_data/2026_01_13_15_17_12_012 | [
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Pick up the towel covering the ringing phone. | 18 | 217 | acoustic_data/2026_01_13_15_17_12_014 | [
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Place the towel into the basket. | 208 | 386 | acoustic_data/2026_01_13_15_17_12_014 | [
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Pick up the towel covering the ringing phone. | 22 | 197 | acoustic_data/2026_01_13_15_17_12_015 | [
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Pick up the towel covering the ringing phone. | 22 | 230 | acoustic_data/2026_01_13_15_17_12_016 | [
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Place the towel into the basket. | 222 | 350 | acoustic_data/2026_01_13_15_17_12_016 | [
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Pick up the towel covering the ringing phone. | 22 | 197 | acoustic_data/2026_01_13_15_17_12_017 | [
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Place the towel into the basket. | 183 | 300 | acoustic_data/2026_01_13_15_17_12_017 | [
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Pick up the towel covering the ringing phone. | 25 | 242 | acoustic_data/2026_01_13_15_17_12_018 | [
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Place the towel into the basket. | 235 | 378 | acoustic_data/2026_01_13_15_17_12_018 | [
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Place the towel into the basket. | 192 | 301 | acoustic_data/2026_01_13_15_29_03_000 | [
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Pick up the towel covering the ringing phone. | 16 | 225 | acoustic_data/2026_01_13_15_29_03_001 | [
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Place the towel into the basket. | 221 | 364 | acoustic_data/2026_01_13_15_29_03_001 | [
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Pick up the towel covering the ringing phone. | 32 | 194 | acoustic_data/2026_01_13_15_29_03_002 | [
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Place the towel into the basket. | 184 | 311 | acoustic_data/2026_01_13_15_29_03_002 | [
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Pick up the towel covering the ringing phone. | 15 | 197 | acoustic_data/2026_01_13_15_29_03_003 | [
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Place the towel into the basket. | 188 | 328 | acoustic_data/2026_01_13_15_29_03_003 | [
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Pick up the towel covering the ringing phone. | 20 | 174 | acoustic_data/2026_01_13_15_29_03_006 | [
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Place the towel into the basket. | 173 | 306 | acoustic_data/2026_01_13_15_29_03_006 | [
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Pick up the towel covering the ringing phone. | 24 | 203 | acoustic_data/2026_01_13_15_29_03_008 | [
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... |
End of preview. Expand in Data Studio
MuseVLA Dataset
Multi-modal robot manipulation dataset with synchronized RGB, depth, acoustic,
thermal, and radar streams. Released as two parts (dataset_01/,
dataset_02/) sharing the same per-episode layout. Together they cover
~1400 episodes across 11 instructions (towel / clothes / box / item / drink
manipulation).
Per-episode contents
{episode_name}/
├── video.mp4 # RGB, 1280×720, 30 fps
├── mask/video.mp4 # SAM3 segmentation mask
├── depth/images/ # depth jpgs
├── acoustic/{images,images_masked}/ # spectrogram + 3 overlay variants
├── radar/{images,images_masked}/ # radar + 3 overlay variants
├── thermal/{left,right,images,images_masked}/ # left / right / merged / overlays
├── 6d_pose/right_arm.npy # end-effector trajectory
├── arm_command/, arm_status/, ee_command/, hand_status/ # control signals
Annotations live under *_labels/{episode}.json with per-segment
instruction, start, end, plus _validity.json recording SAM3 validity.
Top-level instructions_all.json, valid_samples.json, and
statistics_6dpose_delta_NRt0.json are provided for indexing and
normalization.
Statistics
| Episodes | Valid | Annotated segments | Unique instructions | RGB | Frame rate |
|---|---|---|---|---|---|
| 1397 (1279 + 118) | 1010 (913 + 97) | 1930 (1737 + 193) | 11 | 1280 × 720 | 30 fps |
License
CC-BY-NC-4.0 (research use only).
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