---
title: UniVTAC-OXT
canonical_url: "https://www.modelscope.cn/datasets/byml2024/UniVTAC-OXT"
md_url: "https://www.modelscope.cn/datasets/byml2024/UniVTAC-OXT.md"
repository: byml2024/UniVTAC-OXT
chinese_name: "UniVTAC OXT 转换数据集"
last_updated: 2026-09-01
license: mit
storage_size: "49 GB"
downloads: 158
stars: 0
---

# UniVTAC-OXT

> UniVTAC-OXT - byml2024 在 ModelScope 开源的数据集。UniVTAC-OXT is the FTP-1/OXT-compatible release of UniVTAC, a simulated visuo-tactile manipulation dataset. It contains 800 trajectories, 152080 frames, and 8 tasks. Every trajectory contains a fixed main-camera…

byml2024/UniVTAC-OXT 是 ModelScope 魔搭社区上的数据集，存储大小 49 GB，采用 mit 许可。

- **Repository**: byml2024/UniVTAC-OXT
- **License**: mit
- **Storage size**: 49 GB
- **Downloads**: 158
- **Stars**: 0
- **Last updated**: 2026-09-01

Source: https://www.modelscope.cn/datasets/byml2024/UniVTAC-OXT

---

# UniVTAC-OXT

UniVTAC-OXT is the FTP-1/OXT-compatible release of UniVTAC, a simulated
visuo-tactile manipulation dataset. It contains 800 trajectories,
152080 frames, and 8 tasks. Every trajectory contains a
fixed main-camera stream, a wrist-camera stream, Franka arm/gripper joint states,
and two GelSight Mini tactile image streams.

The original HDF5 release is available at
https://modelscope.cn/datasets/byml2024/UniVTAC. The converted dataset is hosted at
https://modelscope.cn/datasets/byml2024/UniVTAC-OXT.

Conversion provenance and the original per-trajectory result fields are retained
in `conversion_manifest.json`. The converted task archives are organized as
`UniVTAC/<task>/*.zarr.zip` according to the OXT supplementary submission layout.