README.md

---
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>

<br>

<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"/>

<br>

<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.

---

## 📁 Directory Structure

<div align="center">
<h3>Dataset Folder Layout</h3>
</div>

```markdown
session_001/
└── device_label_xv_serial/
    └── session_timestamp/
        ├── RGB_Images/
        │   ├── timestamps.csv
        │   └── Frames/
        │       ├── frame_000001.jpg
        │       └── ...
        ├── SLAM_Poses/
        │   └── slam_raw.txt
        ├── Vive_Poses/
        │   └── vive_data_tum.txt
        ├── ToF_PointClouds/
        │   ├── timestamps.csv
        │   └── PointClouds/
        │       └── pointcloud_000001.pcd
        ├── Clamp_Data/
        │   └── clamp_data_tum.txt
        └── Merged_Trajectory/
            ├── merged_trajectory.txt
            └── 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 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 |
|-------|-------------|
| timestamp | Unix timestamp |
| x | Position X (meters) |
| y | Position Y (meters) |
| z | Position Z (meters) |
| qx | Quaternion X component |
| qy | Quaternion Y component |
| qz | Quaternion Z component |
| 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**

---