Update README.md

README.md

@@ -22,7 +22,7 @@ dataset_info:
     - name: slam_poses
       sequence: float32
       description: SLAM pose trajectories
-    - name: vive_poses  
+    - name: vive_poses
       sequence: float32
       description: Vive tracking system poses
     - name: point_clouds
@@ -39,35 +39,21 @@ dataset_info:
       data_files: "**/*"
 ---
 
-<!-- 顶部横幅区域 -->
-
-<div align="center">
-
 # Fast-UMI: A Scalable and Hardware-Independent Universal Manipulation Interface
 
 **Welcome to the official repository of FastUMI Pro!**
 
-[[Viewed](https://img.shields.io/badge/Viewed-100%2B-blue)](#)
-
-[[All](https://img.shields.io/badge/All-Data-green)](#)
-
-[!Pattern](https://img.shields.io/badge/Pattern-Multi--modal-orange)](#)
-
-[[New](https://img.shields.io/badge/New-4s-brightgreen)](#)
-
-[HuggingFace](https://img.shields.io/badge/%F0%9F%A4%97-HuggingFace-yellow)](https://huggingface.co/datasets/FastUMI)
-
-[[GitHub](https://img.shields.io/badge/GitHub-Repository-black)](https://github.com/FastUMI)
-
-[[FastUMI Data](https://img.shields.io/badge/FastUMI-Data-purple)](#)
-
-
-[Project Page](https://fastumi.com/pro/) | 
-
-[Hugging Face Dataset](https://huggingface.co/datasets/FastUMI) | 
-
-[PDF (Early Version)](https://arxiv.org/abs/2409.19499) | 
-
+[![Viewed](https://img.shields.io/badge/Viewed-100%2B-blue)](#)
+[![All](https://img.shields.io/badge/All-Data-green)](#)
+[![Pattern](https://img.shields.io/badge/Pattern-Multi--modal-orange)](#)
+[![New](https://img.shields.io/badge/New-4s-brightgreen)](#)
+[![HuggingFace](https://img.shields.io/badge/%F0%9F%A4%97-HuggingFace-yellow)](https://huggingface.co/datasets/FastUMI)
+[![GitHub](https://img.shields.io/badge/GitHub-Repository-black)](https://github.com/FastUMI)
+[![FastUMI Data](https://img.shields.io/badge/FastUMI-Data-purple)](#)
+
+[Project Page](https://fastumi.com/pro/) |
+[Hugging Face Dataset](https://huggingface.co/datasets/FastUMI) |
+[PDF (Early Version)](https://arxiv.org/abs/2409.19499) |
 [PDF (TBA)](#)
 
 *FastUMI Pro dataset document*
@@ -99,9 +85,9 @@ FastUMI (Fast Universal Manipulation Interface) is a dataset and interface frame
 ## 📊 Dataset Overview
 
 FastUMI Pro builds upon FastUMI with enhanced features:
-- Higher precision trajectory data
-- Support for more diverse robot embodiments, truly enabling "one-brain-multi-form" applications
-- Comprehensive data leadership in the field
+* Higher precision trajectory data
+* Support for more diverse robot embodiments, truly enabling "one-brain-multi-form" applications
+* Comprehensive data leadership in the field
 
 The original FastUMI open-sourced FastUMI-150K containing approximately 150,000 real-world manipulation trajectories, which was first provided to selected research partners for training large-scale VLA (Vision-Language-Action) models.
 
@@ -114,15 +100,12 @@ The original FastUMI open-sourced FastUMI-150K containing approximately 150,000
 huggingface-cli download FastUMIPro/example_data_fastumi_pro_raw --repo-type dataset --local-dir ~/fastumi_data/
 
 # Mirror acceleration solution
-export HF_ENDPOINT=https://hf-mirror.com
+export HF_ENDPOINT=[https://hf-mirror.com](https://hf-mirror.com)
 huggingface-cli download --repo-type dataset --resume-download FastUMIPro/example_data_fastumi_pro_raw --local-dir ~/fastumi_data/
-```
-
-## 📁 Dataset Structure
 
+📁 Dataset Structure
 FastUMI PRO uses raw format containing various types of raw sensor data, which can be easily converted to other formats. The raw format facilitates querying and validating original sensor outputs for rapid problem identification.
 
-```plaintext
 multi_sessions_{time}_{serial number}
 └──session_001
     └── device_label_xv_serial/
@@ -151,74 +134,80 @@ multi_sessions_{time}_{serial number}
 └──session_002
 └──session_003
 └──session_004
-```
 
-### Directory Descriptions
+Directory Descriptions
+session_xxx: Individual data collection session
 
-- **`session_xxx`**: Individual data collection session
-- **`RGB_Images`**: Frame images supporting multiple viewpoints; supports both Images and Videos
-- **`SLAM_Poses`**: UMI pose data
-- **`Vive_Poses`**: Vive tracking system pose data
-- **`ToF_PointClouds`**: Time-of-Flight point cloud raw data (depth)
-- **`Merged_Trajectory`**: Trajectory data
+RGB_Images: Frame images supporting multiple viewpoints; supports both Images and Videos
 
-## ⚙️ Data Specifications
+SLAM_Poses: UMI pose data
 
-### Attributes
+Vive_Poses: Vive tracking system pose data
 
-- **`sim`**:
-  - `False`: Real environment data
-  - `True`: Simulation data
+ToF_PointClouds: Time-of-Flight point cloud raw data (depth)
 
-### Observations
+Merged_Trajectory: Trajectory data
 
-- **`observations/images/`**: Camera image data
-  - Default camera name: `front`
-  - Shape: `(frames, 1920, 1080, 3)`
-  - Data type: `uint8`
-  - Compression: `gzip` (level 4)
+⚙️ Data Specifications
+Attributes
+sim:
 
-- **`observations/qpos`**:
-  - Type: Floating point dataset
-  - Shape: `(timesteps, 7)`
-  - Meaning: Robot end-effector position + quaternion orientation
-  - Order: `[Pos X, Pos Y, Pos Z, Q_X, Q_Y, Q_Z, Q_W]`
+False: Real environment data
 
-### Actions
+True: Simulation data
 
-- Type: Floating point dataset
-- Shape: `(timesteps, 7)`
-- Meaning: Actions (same structure as qpos, typically mirroring qpos)
+Observations
+observations/images/: Camera image data
 
-## 🔄 Data Conversion
+Default camera name: front
 
+Shape: (frames, 1920, 1080, 3)
+
+Data type: uint8
+
+Compression: gzip (level 4)
+
+observations/qpos:
+
+Type: Floating point dataset
+
+Shape: (timesteps, 7)
+
+Meaning: Robot end-effector position + quaternion orientation
+
+Order: [Pos X, Pos Y, Pos Z, Q_X, Q_Y, Q_Z, Q_W]
+
+Actions
+Type: Floating point dataset
+
+Shape: (timesteps, 7)
+
+Meaning: Actions (same structure as qpos, typically mirroring qpos)
+
+🔄 Data Conversion
 Supports one-click export to specific formats via web toolchain, or conversion between formats using tools like:
 
-- **Any4lerobot**: [GitHub - Tavish9/any4lerobot](https://github.com/Tavish9/any4lerobot)
+Any4lerobot: GitHub - Tavish9/any4lerobot
 
 Conversion paths supported:
-- hdf5 → lerobot v3.0
-- hdf5 → lerobot(Pi0) v2.0
-- hdf5 → rlds
 
-## 📰 News
+hdf5 → lerobot v3.0
 
+hdf5 → lerobot(Pi0) v2.0
 
-## 📄 License
+hdf5 → rlds
 
+📰 News
+📄 License
 [License information to be added]
 
-## 📞 Contact
-
+📞 Contact
 For any questions or suggestions, please contact the development team:
-- **Lead**: [Name]
-- **Email**: [Email Address]
-- **WeChat**: [WeChat ID]
 
----
+Lead: [Name]
 
-<div align="center">
+Email: [Email Address]
 
-**FastUMI Pro** - *Advancing Robot Manipulation Through Scalable Data Systems*
+WeChat: [WeChat ID]
 
-</div>
+FastUMI Pro - Advancing Robot Manipulation Through Scalable Data Systems