| --- |
| language: |
| - en |
| - zh |
| tags: |
| - robotics |
| - manipulation |
| - trajectory-data |
| - multimodal |
| - embodied-ai |
| multimodal: vision+language+action |
| license: other |
| task_categories: |
| - robotics |
| 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: "**/*" |
| --- |
| <div align="center"> |
|
|
| <h1 style="font-size:44px; font-weight:900; margin-bottom:10px;"> |
| FastUMI Pro – Multimodal Sample Dataset |
| </h1> |
|
|
| <h3 style="font-size:20px; font-weight:400; margin-top:-10px;"> |
| Small-Scale Demonstration Data from the FastUMI Pro Multimodal Sensing System |
| <br>(Only Dozens of Trajectories — Full Dataset Available Upon Request) |
| </h3> |
|
|
|
|
| <div style="display: flex; justify-content: center; gap: 8px; margin: 10px 0;"> |
| <img src="https://img.shields.io/badge/FastUMI-Pro-brightgreen" height="15"/> |
| <img src="https://img.shields.io/badge/Sample%20Dataset-Small-blue" height="15"/> |
| <img src="https://img.shields.io/badge/Multimodal-Vision%20%7C%20Pose%20%7C%20PointCloud-orange" height="15"/> |
| </div> |
|
|
|
|
| <a href="https://fastumi.com/pro/">Project Homepage</a> |
|
|
| </div> |
|
|
| --- |
|
|
| ## 📖 Overview |
|
|
| The **FastUMI Pro Sample Dataset** provides a public preview of the multimodal sensing capabilities of the FastUMI Pro data collection system. |
|
|
| This release contains **only dozens of sample trajectories** and is intended for: |
|
|
| - System testing |
| - Robotics and AI pipeline integration |
| - Preliminary algorithm development |
| - Demonstrating multimodal alignment and synchronization |
|
|
| Included sensor streams: |
|
|
| - RGB camera images |
| - Visual SLAM trajectory |
| - Vive tracking trajectory |
| - ToF point cloud frames |
| - Clamp (gripper width) sensor readings |
| - Fused multi-sensor trajectory |
|
|
| Full-scale datasets are available upon request for research or enterprise collaboration. |
|
|
| --- |
|
|
|
|
| ## 📊 Data Specifications |
|
|
| | **Data Type** | **Path** | **Shape** | **Type** | **Description** | |
| |--------------|----------|-----------|----------|-----------------| |
| | RGB Images | RGB_Images/Frames/*.jpg | (H, W, 3) | uint8 | Multi-view RGB images | |
| | SLAM Poses | SLAM_Poses/slam_raw.txt | (N, 8) | float | Timestamp + SE(3) pose | |
| | Vive Poses | Vive_Poses/vive_data_tum.txt | (N, 8) | float | Vive tracking system poses | |
| | ToF PointClouds | ToF_PointClouds/PointClouds/*.pcd | variable | pcd | Time-of-Flight point clouds | |
| | Clamp Data | Clamp_Data/clamp_data_tum.txt | (N, 2) | float | Timestamp + clamp width | |
| | Merged Trajectory | Merged_Trajectory/merged_trajectory.txt | (N, 8) | float | Fused multi-sensor pose | |
|
|
| --- |
|
|
| ## 🧭 Pose Data Format |
|
|
| All pose data (SLAM, Vive, fused) follow the same structure: |
|
|
| ```markdown |
| timestamp x y z qx qy qz qw |
| ``` |
|
|
| | Field | Description | | Field | Description | |
| | :--- | :--- | :---: | :--- | :--- | |
| | timestamp | Unix timestamp | | qx | Quaternion X component | |
| | x | Position X (meters) | | qy | Quaternion Y component | |
| | y | Position Y (meters) | | qz | Quaternion Z component | |
| | z | Position Z (meters) | | qw | Quaternion W component | |
|
|
| --- |
|
|
| ## 📥 Download |
|
|
| ```bash |
| huggingface-cli download FastUMIPro/example_data_fastumi_pro_raw \ |
| --repo-type dataset \ |
| --local-dir ./fastumi_sample/ |
| ``` |
|
|
| Optional: |
|
|
| ```bash |
| export HF_ENDPOINT=https://hf-mirror.com |
| ``` |
|
|
| --- |
|
|
| ## ⚠️ Dataset Scale Notice |
|
|
| This dataset contains **only a small number of sample episodes** |
| and is **not intended for large-scale training**. |
|
|
| For full multimodal datasets or enterprise collaborations, please contact the FastUMI team. |
|
|
| --- |
|
|
| ## 📞 Contact |
|
|
| Lead: **Ding Yan** |
| Email: **dingyan@lumosbot.tech** |
| WeChat: **Duke_dingyan** |
| |
| --- |
| |
