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README.md
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---
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language:
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- en
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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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Included sensor streams:
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- RGB camera images
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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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---
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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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## 📥 Download
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```bash
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![Uploading 06ec6ddb60befdd9fe8a5607fc5c069f.png…]()
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---
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language:
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- en
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<a href="https://fastumi.com/pro/">Project Homepage</a>
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<img src="/home/lumos/图片/微信图片_20251211181337_1_1.png" alt="FastUMI Pro Hardware System" width="600">
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</div>
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---
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Included sensor streams:
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- RGB camera images
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- Merged_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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---
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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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---
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## 🗂️ Dataset Structure
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**Purpose:** The dataset is organized by tasks and sessions, with each task containing multimodal sensor data streams captured during robotic manipulation episodes. Below is the hierarchical structure observed from the actual dataset:
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dataset_root/
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├── pick_coke/ # Task: Picking up a coke can
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│ ├── RGB_Images/
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│ │ └── Frames/ # Multi-view RGB image frames captured during the task
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│ ├── ToF_PointClouds/
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│ │ └── PointClouds/ # Time-of-Flight depth sensor point cloud data
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│ ├── Clamp_Data/ # Clamp sensor readings (gripper width measurements)
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│ └── Merged_Trajectory/ # Fused trajectory data combining multiple sensor inputs
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├── unplug_charger/ # Task: Unplugging a charger
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│ ├── RGB_Images/
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│ │ └── Frames/ # RGB image sequences for charger unplugging task
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│ ├── ToF_PointClouds/
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│ │ └── PointClouds/ # 3D point cloud data for spatial understanding
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│ ├── Clamp_Data/ # Gripper width sensor data during manipulation
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│ └── Merged_Trajectory/ # Unified trajectory data from sensor fusion
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└── organize/ # Organized data structure following the same pattern
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└── session_folders/
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---
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## 📸 How We Collect Data
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We collect data using equipment manufactured in China.
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The FastUMI Pro system integrates multiple sensors including RGB cameras,
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Time-of-Flight depth sensors, and force-sensitive clamp sensors to capture comprehensive multimodal interaction data.
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---
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## 📥 Download
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```bash
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