| --- |
| 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 Hundreds 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> |
|
|
| <img src="https://huggingface.co/datasets/FastUMIPro/example_data_fastumi_pro_raw/resolve/main/4a84995c57de5d63186f923d7a7e06e1.png" alt="FastUMI Pro Hardware System" width="60%" style="border-radius: 10px; box-shadow: 0 4px 8px 0 rgba(0,0,0,0.2);"> |
| <a href="https://fastumi.com/pro/">Project Homepage</a> |
| <br> |
| </div> |
|
|
| --- |
|
|
| ## 📦 FastUMI Data Market |
| <div style="width: 500px; margin: 10px 0; text-align: left;"> |
| <marquee behavior="alternate" style="color:#ff5500; font-size:24px; font-weight:bold;"> |
| <a href="https://www.fastumi.com/data-market" target="_blank" rel="noopener noreferrer" style="color:#ff5500; text-decoration:none;"> |
| <blink>🔥FastUMI Data Market is online!(click here).🔥</blink> |
| </a> |
| </marquee> |
| </div> |
|
|
| Link: **www.fastumi.com/data-market** |
|
|
| --- |
|
|
| ## 📖 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 |
|
|
|
|
| Full-scale datasets are available upon request for research or enterprise collaboration. |
|
|
|
|
| <!-- <div style="background-color:#fff8f8; border-left:4px solid #ff6b6b; padding:10px; margin:10px 0;"> |
| ⚠️ <span style="color:#e74c3c;font-weight:bold">Note: The current image has been compressed. The new lossless image data is on its way.</span> |
| </div> --> |
|
|
|
|
| --- |
|
|
|
|
| ## 📊 Data Specifications |
|
|
| **Purpose:** The following table is to provide users with an overview of the technical specifications of the dataset. |
|
|
| | **Data Type** | **Path** | **Shape** | **Type** | **Description** | |
| |--------------|----------|-----------|----------|-----------------| |
| | RGB Images | RGB_Images/Frames/*.mp4| (H, W, 3) | uint8 | Multi-view RGB images | |
| | 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 | |
| |
| --- |
| |
| ## 🧭 Data Formats |
| |
| 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 | |
| |
| --- |
| |
| ### Coordinate System |
| |
| To ensure correct visualization and control, all pose data adheres to the following right-handed coordinate system (World Frame). |
| * **Origin (0,0,0):** Geometric center of the tracking base stations (World Frame). |
| * 🔴 **X-Axis:** Points Forward (the primary direction of manipulation). |
| * 🟢 **Y-Axis:** Points Right (relative to the workspace). |
| * 🔵 **Z-Axis:** Points Upward (opposite to the direction of gravity). |
| <div align="center"> |
| <img src="https://huggingface.co/datasets/FastUMIPro/example_data_fastumi_pro_raw/resolve/main/1_2025-12-11_201019_400.jpg" alt="Coordinate System Visualization" width="50%" style="border-radius: 8px; margin-top: 15px;"> |
| <br> |
| <small><i>Visual reference for the coordinate system.</i></small> |
| </div> |
| <div align="center" style="margin-top: 15px;"> |
| <small><i>Tip: When using simulation environments like ROS or Isaac Gym, ensure your coordinate frame conventions match. You may need to apply a transformation if your framework uses a different "up" axis (e.g., Z-up vs. Y-up).</i></small> |
| </div> |
|
|
|
|
| --- |
|
|
| ## 📸 How We Collect Data |
| We collect data using the **FastUMI Pro** hardware suite. This system integrates high-frequency sensors to capture comprehensive multimodal interaction data: |
|
|
| * **Visual:** Industrial-grade RGB cameras. |
| * **Spatial:** Time-of-Flight depth sensors for dense 3D reconstruction. |
| * **Haptic/State:** Force-sensitive clamp sensors for precise gripper feedback. |
|
|
|
|
| --- |
|
|
| ## 📥 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 |
|
|
| > [!IMPORTANT] |
| > 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. |
|
|
| --- |
|
|
| ## 📦 Data format specifications |
| ``` |
| multi_sessions_20260109_211139/ |
| └── session_002/ |
| ├── left_hand_250801DR48FB25002570/ |
| │ ├── Clamp_Data/ |
| │ │ └── clamp_data_tum.txt |
| │ ├── Merged_Trajectory/ |
| │ │ └── merged_trajectory.txt |
| │ └── RGB_Images/ |
| │ ├── timestamps.csv |
| │ └── video.mp4 |
| └── right_hand_250801DR48FP25002664/ |
| ├── Clamp_Data/ |
| │ └── clamp_data_tum.txt |
| ├── Merged_Trajectory/ |
| │ └── merged_trajectory.txt |
| └── RGB_Images/ |
| ├── timestamps.csv |
| └── video.mp4 |
| ``` |
|
|
| ## 📞 Contact |
|
|
| Lead: **Ding Yan** |
| Email: **dingyan@lumosbot.tech** |
| WeChat: **Duke_dingyan** |
| |
| --- |
