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--- |
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language: |
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- en |
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- zh |
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tags: |
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- robotics |
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- manipulation |
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- trajectory-data |
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- multimodal |
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- embodied-ai |
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multimodal: vision+language+action |
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license: other |
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task_categories: |
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- robotics |
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dataset_info: |
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features: |
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- name: rgb_images |
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dtype: image |
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description: Multi-view RGB images |
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- name: slam_poses |
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sequence: float32 |
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description: SLAM pose trajectories |
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- name: vive_poses |
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sequence: float32 |
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description: Vive tracking system poses |
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- name: point_clouds |
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sequence: float32 |
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description: Time-of-Flight point cloud data |
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- name: clamp_data |
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sequence: float32 |
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description: Clamp sensor readings |
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- name: merged_trajectory |
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sequence: float32 |
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description: Fused trajectory data |
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configs: |
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- config_name: default |
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data_files: "**/*" |
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--- |
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<div align="center"> |
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<h1 style="font-size:44px; font-weight:900; margin-bottom:10px;"> |
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FastUMI Pro – Multimodal Sample Dataset |
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</h1> |
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<h3 style="font-size:20px; font-weight:400; margin-top:-10px;"> |
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Small-Scale Demonstration Data from the FastUMI Pro Multimodal Sensing System |
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<br>(Only Dozens of Trajectories — Full Dataset Available Upon Request) |
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</h3> |
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<br> |
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<img src="https://img.shields.io/badge/FastUMI-Pro-brightgreen" height="15"/> |
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<img src="https://img.shields.io/badge/Sample%20Dataset-Small-blue" height="15"/> |
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<img src="https://img.shields.io/badge/Multimodal-Vision%20%7C%20Pose%20%7C%20PointCloud-orange" height="15"/> |
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<br> |
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<a href="https://fastumi.com/pro/">Project Homepage</a> |
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</div> |
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--- |
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## 📖 Overview |
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The **FastUMI Pro Sample Dataset** provides a public preview of the multimodal sensing capabilities of the FastUMI Pro data collection system. |
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This release contains **only dozens of sample trajectories** and is intended for: |
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- System testing |
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- Robotics and AI pipeline integration |
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- Preliminary algorithm development |
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- Demonstrating multimodal alignment and synchronization |
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Included sensor streams: |
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- RGB camera images |
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- Visual SLAM trajectory |
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- Vive tracking trajectory |
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- ToF point cloud frames |
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- Clamp (gripper width) sensor readings |
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- Fused multi-sensor trajectory |
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Full-scale datasets are available upon request for research or enterprise collaboration. |
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--- |
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## 📁 Directory Structure |
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<div align="center"> |
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<h3>Dataset Folder Layout</h3> |
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</div> |
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```markdown |
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session_001/ |
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└── device_label_xv_serial/ |
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└── session_timestamp/ |
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├── RGB_Images/ |
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│ ├── timestamps.csv |
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│ └── Frames/ |
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│ ├── frame_000001.jpg |
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│ └── ... |
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├── SLAM_Poses/ |
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│ └── slam_raw.txt |
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├── Vive_Poses/ |
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│ └── vive_data_tum.txt |
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├── ToF_PointClouds/ |
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│ ├── timestamps.csv |
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│ └── PointClouds/ |
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│ └── pointcloud_000001.pcd |
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├── Clamp_Data/ |
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│ └── clamp_data_tum.txt |
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└── Merged_Trajectory/ |
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├── merged_trajectory.txt |
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└── merge_stats.txt |
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``` |
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--- |
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## 📊 Data Specifications |
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| **Data Type** | **Path** | **Shape** | **Type** | **Description** | |
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|--------------|----------|-----------|----------|-----------------| |
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| RGB Images | RGB_Images/Frames/*.jpg | (H, W, 3) | uint8 | Multi-view RGB images | |
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| SLAM Poses | SLAM_Poses/slam_raw.txt | (N, 8) | float | Timestamp + SE(3) pose | |
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| Vive Poses | Vive_Poses/vive_data_tum.txt | (N, 8) | float | Vive tracking system poses | |
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| ToF PointClouds | ToF_PointClouds/PointClouds/*.pcd | variable | pcd | Time-of-Flight point clouds | |
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| Clamp Data | Clamp_Data/clamp_data_tum.txt | (N, 2) | float | Timestamp + clamp width | |
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| Merged Trajectory | Merged_Trajectory/merged_trajectory.txt | (N, 8) | float | Fused multi-sensor pose | |
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--- |
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## 🧭 Pose Data Format |
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All pose data (SLAM, Vive, fused) follow the same structure: |
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```markdown |
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timestamp x y z qx qy qz qw |
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``` |
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| Field | Description | |
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|-------|-------------| |
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| timestamp | Unix timestamp | |
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| x | Position X (meters) | |
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| y | Position Y (meters) | |
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| z | Position Z (meters) | |
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| qx | Quaternion X component | |
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| qy | Quaternion Y component | |
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| qz | Quaternion Z component | |
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| qw | Quaternion W component | |
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--- |
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## 📥 Download |
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```bash |
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huggingface-cli download FastUMIPro/example_data_fastumi_pro_raw \ |
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--repo-type dataset \ |
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--local-dir ./fastumi_sample/ |
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``` |
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Optional: |
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```bash |
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export HF_ENDPOINT=https://hf-mirror.com |
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``` |
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--- |
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## ⚠️ Dataset Scale Notice |
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This dataset contains **only a small number of sample episodes** |
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and is **not intended for large-scale training**. |
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For full multimodal datasets or enterprise collaborations, please contact the FastUMI team. |
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--- |
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## 📞 Contact |
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Lead: **Ding Yan** |
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Email: **dingyan@lumosbot.tech** |
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WeChat: **Duke_dingyan** |
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--- |
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