# VinT-6D: A Large-Scale Object-in-hand Dataset from Vision, Touch and Proprioception

arXiv: https://arxiv.org/abs/2501.00510 · HTML: https://mlsanity.com/paper/2501.00510/

## Key facts

- Cited by 5 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 31 Dec 2024.

## Built on by (most cited first, 5 of 5)

- [Conditional Panoramic Image Generation via Masked Autoregressive Modeling](https://mlsanity.com/paper/2505.16862/) (2025)
- [V-HOP: Visuo-Haptic 6D Object Pose Tracking](https://mlsanity.com/paper/2502.17434/) (2025)
- [ViTa-Zero: Zero-shot Visuotactile Object 6D Pose Estimation](https://mlsanity.com/paper/2504.13179/) (2025)
- [Tactile-based Multimodal Fusion in Embodied Intelligence: A Survey of Vision, Language, and Contact-Driven Paradigms](https://mlsanity.com/paper/2605.17336/) (2026)
- [Visuo-Tactile Object Pose Estimation for a Multi-Finger Robot Hand with Low-Resolution In-Hand Tactile Sensing](https://mlsanity.com/paper/2503.19893/) (2025)

## Abstract (arXiv)

This paper addresses the scarcity of large-scale datasets for accurate object-in-hand pose estimation, which is crucial for robotic in-hand manipulation within the ``Perception-Planning-Control" paradigm. Specifically, we introduce VinT-6D, the first extensive multi-modal dataset integrating vision, touch, and proprioception, to enhance robotic manipulation. VinT-6D comprises 2 million VinT-Sim and 0.1 million VinT-Real splits, collected via simulations in MuJoCo and Blender and a custom-designed real-world platform. This dataset is tailored for robotic hands, offering models with whole-hand tactile perception and high-quality, well-aligned data. To the best of our knowledge, the VinT-Real is the largest considering the collection difficulties in the real-world environment so that it can bridge the gap of simulation to real compared to the previous works. Built upon VinT-6D, we present a benchmark method that shows significant improvements in performance by fusing multi-modal information. The project is available at https://VinT-6D.github.io/.