README.md

---
language:
  - en
  - zh
tags:
  - robotics
  - manipulation
  - vla
  - trajectory-data
  - multimodal
  - vision-language-action
license: other
task_categories:
  - robotics
  - reinforcement-learning
multimodal: vision+language+action
dataset_info:
  features:
    - name: rgb_images
      dtype: image
      description: Multi-view RGB images
    - name: slam_poses
      sequence: float32
      description: SLAM pose trajectories
    - name: vive_poses
      sequence: float32
      description: Vive tracking system poses
    - name: point_clouds
      sequence: float32
      description: Time-of-Flight point cloud data
    - name: clamp_data
      sequence: float32
      description: Clamp sensor readings
    - name: merged_trajectory
      sequence: float32
      description: Fused trajectory data
  configs:
    - config_name: default
      data_files: "**/*"
---

# Fast-UMI: A Scalable and Hardware-Independent Universal Manipulation Interface

**Welcome to the official repository of FastUMI Pro!**

[![Viewed](https://img.shields.io/badge/Viewed-100%2B-blue)](#)
[![All](https://img.shields.io/badge/All-Data-green)](#)
[![Pattern](https://img.shields.io/badge/Pattern-Multi--modal-orange)](#)
[![New](https://img.shields.io/badge/New-4s-brightgreen)](#)
[![HuggingFace](https://img.shields.io/badge/%F0%9F%A4%97-HuggingFace-yellow)](https://huggingface.co/datasets/FastUMI)
[![GitHub](https://img.shields.io/badge/GitHub-Repository-black)](https://github.com/FastUMI)
[![FastUMI Data](https://img.shields.io/badge/FastUMI-Data-purple)](#)

[Project Page](https://fastumi.com/pro/) |
[Hugging Face Dataset](https://huggingface.co/datasets/FastUMI) |
[PDF (Early Version)](https://arxiv.org/abs/2409.19499) |
[PDF (TBA)](#)

*FastUMI Pro dataset document*

<br>

## 📋 Contents

| Section | Description |
|---------|-------------|
| [🎯 Project Description](#-project-description) | Overview and introduction |
| [📊 Dataset Overview](#-dataset-overview) | Key features and capabilities |
| [🚀 Quick Start](#-quick-start) | Get started quickly |
| [📁 Dataset Structure](#-dataset-structure) | Data organization and format |
| [⚙️ Data Specifications](#️-data-specifications) | Technical details and attributes |
| [🔄 Data Conversion](#-data-conversion) | Format conversion tools |
| [📰 News](#-news) | Latest updates |
| [📄 License](#-license) | Usage terms |
| [📞 Contact](#-contact) | Get in touch |

---

## 🎯 Project Description

FastUMI Pro is the upgraded enterprise version of FastUMI, designed for streamlined, end-to-end data acquisition and transformation systems for corporate users.

FastUMI (Fast Universal Manipulation Interface) is a dataset and interface framework for universal robot manipulation tasks, supporting hardware-agnostic, scalable, and efficient data collection and model training. The project provides physical prototype systems, complete data collection code, standardized data formats, and utility tools to facilitate real-world manipulation learning research.

## 📊 Dataset Overview

FastUMI Pro builds upon FastUMI with enhanced features:
* Higher precision trajectory data
* Support for more diverse robot embodiments, truly enabling "one-brain-multi-form" applications
* Comprehensive data leadership in the field

The original FastUMI open-sourced FastUMI-150K containing approximately 150,000 real-world manipulation trajectories, which was first provided to selected research partners for training large-scale VLA (Vision-Language-Action) models.

## 🚀 Quick Start

### Download Example Data

```bash
# Original command (may be slow in some regions)
huggingface-cli download FastUMIPro/example_data_fastumi_pro_raw --repo-type dataset --local-dir ~/fastumi_data/

# Mirror acceleration solution
export HF_ENDPOINT=[https://hf-mirror.com](https://hf-mirror.com)
huggingface-cli download --repo-type dataset --resume-download FastUMIPro/example_data_fastumi_pro_raw --local-dir ~/fastumi_data/

📁 Dataset Structure
FastUMI PRO uses raw format containing various types of raw sensor data, which can be easily converted to other formats. The raw format facilitates querying and validating original sensor outputs for rapid problem identification.

multi_sessions_{time}_{serial number}
└──session_001
    └── device_label_xv_serial/
        └── session_timestamp/
            ├── RGB_Images/
            │   ├── timestamps.csv
            │   └── Frames/
            │       ├── frame_000001.jpg
            │       ├── frame_000002.jpg
            │       └── ...
            ├── SLAM_Poses/
            │   └── slam_raw.txt
            ├── Vive_Poses/
            │   └── vive_data_tum.txt
            ├── ToF_PointClouds/
            │   ├── timestamps.csv
            │   └── PointClouds/
            │       ├── pointcloud_000001.pcd
            │       ├── pointcloud_000002.pcd
            │       └── ...
            ├── Clamp_Data/
            │   └── clamp_data_tum.txt
            └── Merged_Trajectory/
                ├── merged_trajectory.txt
                └── merge_stats.txt
└──session_002
└──session_003
└──session_004

Directory Descriptions
session_xxx: Individual data collection session

RGB_Images: Frame images supporting multiple viewpoints; supports both Images and Videos

SLAM_Poses: UMI pose data

Vive_Poses: Vive tracking system pose data

ToF_PointClouds: Time-of-Flight point cloud raw data (depth)

Merged_Trajectory: Trajectory data

⚙️ Data Specifications
Attributes
sim:

False: Real environment data

True: Simulation data

Observations
observations/images/: Camera image data

Default camera name: front

Shape: (frames, 1920, 1080, 3)

Data type: uint8

Compression: gzip (level 4)

observations/qpos:

Type: Floating point dataset

Shape: (timesteps, 7)

Meaning: Robot end-effector position + quaternion orientation

Order: [Pos X, Pos Y, Pos Z, Q_X, Q_Y, Q_Z, Q_W]

Actions
Type: Floating point dataset

Shape: (timesteps, 7)

Meaning: Actions (same structure as qpos, typically mirroring qpos)

🔄 Data Conversion
Supports one-click export to specific formats via web toolchain, or conversion between formats using tools like:

Any4lerobot: GitHub - Tavish9/any4lerobot

Conversion paths supported:

hdf5 → lerobot v3.0

hdf5 → lerobot(Pi0) v2.0

hdf5 → rlds

📰 News
📄 License
[License information to be added]

📞 Contact
For any questions or suggestions, please contact the development team:

Lead: [Name]

Email: [Email Address]

WeChat: [WeChat ID]

FastUMI Pro - Advancing Robot Manipulation Through Scalable Data Systems