Datasets:

FastUMIPro
/

example_data_fastumi_pro_raw

@@ -5,13 +5,13 @@ language:
 tags:
   - robotics
   - manipulation
-  - multimodal
   - trajectory-data
-  - vision-sensors
 license: other
 task_categories:
   - robotics
-multimodal: vision+action
 dataset_info:
   features:
     - name: rgb_images
@@ -37,93 +37,62 @@ dataset_info:
       data_files: "**/*"
 ---
-<h1 align="center" style="font-size: 40px; font-weight: bold;">
-  FastUMI Pro™ Robotics Dataset
 </h1>
-<h3 align="center">
-  Enterprise-Grade Data Engine for Embodied AI
 </h3>
-<p align="center">
-  <img src="https://img.shields.io/badge/Product-FastUMI_Pro-brightgreen?style=flat"/>
-  <img src="https://img.shields.io/badge/Multimodal-7_Sensors-orange?style=flat"/>
-  <img src="https://img.shields.io/badge/Trajectory_Data-150K-blue?style=flat"/>
-  <img src="https://img.shields.io/badge/Application-VLA_Training-purple?style=flat"/>
-</p>
----
-## 📖 Overview
-The **FastUMI Pro Sample Dataset** contains a small number of demonstration trajectories
-(only **dozens of episodes**, *not* a large-scale dataset).
-It showcases the multimodal sensing capabilities of the FastUMI Pro system, including:
-- RGB camera streams
-- Visual SLAM pose trajectories
-- Vive tracking data
-- Time-of-Flight (ToF) point clouds
-- Clamp (gripper gap) measurements
-- Fused pose trajectories
-This dataset is intended as a **public preview** of the data modality, structure, and quality of FastUMI Pro.
-For full-scale datasets or customized collection services, please **contact the FastUMI team directly**.
 ---
-## ✨ Key Features
-- **High-precision spatial tracking**
-- **Multi-sensor synchronization** across RGB, SLAM, Vive, ToF, and clamp channels
-- **Standardized directory and timestamp structure**
-- **Ready for embodied AI, imitation learning, and robotics research**
-- **Hardware-agnostic data format** for cross-platform manipulation applications
----
-<!-- **VLA Model Results**: [TBD]
-## 🛠️ Toolchain
-| Tool | Description | Link |
-|------|-------------|------|
-| **Single-Arm Demo Replay** | Single-arm data replay code | [GitHub](https://github.com/Loki-Lu/FastUMI_replay_singleARM) |
-| **Dual-Arm Demo Replay** | Dual-arm data replay code | [GitHub](https://github.com/Loki-Lu/FastUMI_replay_dualARM) |
-| **Hardware SDK** | FastUMI hardware development kit | [GitHub](https://github.com/FastUMIRobotics/FastUMI_Hardware_SDK) |
-| **Monitor Tool** | Real-time device monitoring | [GitHub](https://github.com/FastUMIRobotics/FastUMI_Monitor_Tool) |
-| **Data Collection** | Data collection utilities | [GitHub](https://github.com/FastUMIRobotics/FastUMI_Data_Collection) |
- -->
----
-<!-- ### Research & Applications
-- **Paper**: [MLM: Learning Multi-task Loco-Manipulation Whole-Body Control for Quadruped Robot with Arm](https://arxiv.org/abs/2508.10538)
-- **Tutorial**: PI0 (FastUMI Data Lightweight Adaptation, Version V0) Full Pipeline
- -->
 ---
-## 📥 Data Download
-### Example Dataset
-```bash
-# Direct download (may be slow in some regions)
-huggingface-cli download FastUMIPro/example_data_fastumi_pro_raw --repo-type dataset --local-dir ~/fastumi_data/
-```
-Mirror Download (Recommended)
-```bash
-# Set mirror endpoint
-export HF_ENDPOINT=https://hf-mirror.com
-```
-# Download via mirror
-huggingface-cli download --repo-type dataset --resume-download FastUMIPro/example_data_fastumi_pro_raw --local-dir ~/fastumi_data/
-📁 Data Structure
-Each session represents an independent operation "episode" containing observation data and action sequences.
-```
-Directory Structure
-text
 session_001/
 └── device_label_xv_serial/
     └── session_timestamp/
@@ -147,47 +116,75 @@ session_001/
             └── merge_stats.txt
 ```
-## Data Specifications
-| Data Type | Path | Shape| Type | Description |
-| :--- | :--- | :--- | :--- | :--- |
-| **RGB Images** | `session_XXX/RGB_Images/Video.MP4` | `(frames, 1080, 1920, 3)`| `uint8`| Camera video data, 60 FPS  |
-| **SLAM Poses** | `session_XXX/SLAM_Poses/slam_raw.txt` | `(timestamps, 7)`| `float` | UMI end-effector poses |
-| **Vive Poses** | `session_XXX/Vive_Poses/vive_data_tum.txt` | `(timestamps, 7)`| `float` | Vive base station poses |
-| **ToF PointClouds** | `session_XXX/PointClouds/pointcloud_...pcd` | `pcd format` | pcd | Time-of-Flight point cloud data |
-| **Clamp Data** | `session_XXX/Clamp_Data/clamp_data_tum.txt` | `(timestamps, 1)`| `float` | Gripper spacing (mm) |
-| **Merged Trajectory** | `session_XXX/Merged_Trajectory/merged_trajectory.txt` | `(timestamps, 7)`| `float` | Fused trajectory (Vive/UMI based on velocity) |
-### Pose Data Format
-All pose data (SLAM, Vive, Merged) follow the same format:
-| Data | Description |
-| :--- | :--- |
-| **Timestamp** | Unix timestamp of the trajectory data |
-| **Pos X** | X-coordinate of position (meters) |
-| **Pos Y** | Y-coordinate of position (meters) |
-| **Pos Z** | Z-coordinate of position (meters) |
-| **Q_X** | X-component of orientation quaternion |
-| **Q_Y** | Y-component of orientation quaternion |
-| **Q_Z** | Z-component of orientation quaternion |
-| **Q_W** | W-component of orientation quaternion |
-## 🔄 Data Conversion
-[TBD]
-## 🤝 Collaboration
-FastUMI Pro dataset is available for research collaboration. The full FastUMI-150K dataset has been provided to partner research teams for large-scale model training.
 ## 📞 Contact
-***
-> ### ☎️ 开发团队联系方式
->
-> 对于任何问题或建议，请随时联系我们的开发团队。
-> | **负责人 (Lead)** | Ding Yan |
-> | :--- | :--- |
-> | **Email** | **[dingyan@lumosbot.tech](mailto:dingyan@lumosbot.tech)** |
-> | **WeChat** | **`Duke_dingyan`** |
-***

 tags:
   - robotics
   - manipulation
   - trajectory-data
+  - multimodal
+  - embodied-ai
+multimodal: vision+language+action
 license: other
 task_categories:
   - robotics
 dataset_info:
   features:
     - name: rgb_images
       data_files: "**/*"
 ---
+<div align="center">
+<h1 style="font-size: 42px; 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>
+<br>
+<img src="https://img.shields.io/badge/FastUMI-Pro-brightgreen" />
+<img src="https://img.shields.io/badge/Sample%20Dataset-Small-blue" />
+<img src="https://img.shields.io/badge/Multimodal-Vision%20%7C%20Pose%20%7C%20PointCloud-orange" />
+<br><br>
+<a href="https://fastumi.com/pro/">Project Homepage</a>
+</div>
 ---
+## 📖 Overview
+The **FastUMI Pro Sample Dataset** provides a publicly available preview of the multimodal sensing pipeline used by the FastUMI Pro system.
+This release contains **only a small number of demonstration trajectories**, intended for:
+- System testing
+- Algorithm prototyping
+- Pipeline integration
+- Demonstration of multimodal alignment quality
+This dataset includes:
+- RGB camera frames
+- Visual SLAM trajectories
+- Vive tracking poses
+- ToF point clouds
+- Clamp (gripper width) sensor readings
+- Fused multi-sensor trajectory data
+Full-scale datasets and enterprise data services are available upon request.
 ---
+## 📁 Directory Structure
+<div align="center">
+<h3>Dataset Folder Layout</h3>
+</div>
+```markdown
 session_001/
 └── device_label_xv_serial/
     └── session_timestamp/
             └── merge_stats.txt
 ```
+---
+## 📊 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 |
+| ToF PointClouds | ToF_PointClouds/PointClouds/*.pcd | variable | pcd | ToF 3D 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 pose trajectory |
+---
+## 🧭 Pose Data Format
+```markdown
+timestamp  x  y  z  qx  qy  qz  qw
+```
+| Field | Description |
+|-------|-------------|
+| timestamp | Unix timestamp |
+| x | Position X (meters) |
+| y | Position Y (meters) |
+| z | Position Z (meters) |
+| qx | Quaternion X |
+| qy | Quaternion Y |
+| qz | Quaternion Z |
+| qw | Quaternion W |
+---
+## 📥 Download
+```bash
+huggingface-cli download FastUMIPro/example_data_fastumi_pro_raw \
+  --repo-type dataset \
+  --local-dir ./fastumi_sample/
+```
+Mirror (optional):
+```bash
+export HF_ENDPOINT=https://hf-mirror.com
+```
+---
+## ⚠️ Dataset Scale
+This dataset contains **only a small number of sample episodes**
+and is **not intended for large-scale model training**.
+For:
+- Full datasets
+- Enterprise multimodal collection
+- Research collaboration
+→ Please contact the FastUMI team.
+---
 ## 📞 Contact
+Lead: **Ding Yan**
+Email: **dingyan@lumosbot.tech**
+WeChat: **Duke_dingyan**
+---