| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| |
| configs: |
| - config_name: task_001_press_the_power_button_of_the_power_strip |
| default: true |
| data_files: |
| - split: train |
| path: task_001_press_the_power_button_of_the_power_strip/data/*/*.parquet |
| - config_name: task_002_transfer_the_calculator_and_then_place_it_on_the_table_to_align |
| data_files: |
| - split: train |
| path: task_002_transfer_the_calculator_and_then_place_it_on_the_table_to_align/data/*/*.parquet |
| - config_name: task_003_the_plug_is_inserted_into_the_power_strip |
| data_files: |
| - split: train |
| path: task_003_the_plug_is_inserted_into_the_power_strip/data/*/*.parquet |
| - config_name: task_004_unfold_the_cleaning_cloth_and_wipe_the_table |
| data_files: |
| - split: train |
| path: task_004_unfold_the_cleaning_cloth_and_wipe_the_table/data/*/*.parquet |
| - config_name: task_005_scaffold_handover_and_alignment |
| data_files: |
| - split: train |
| path: task_005_scaffold_handover_and_alignment/data/*/*.parquet |
| - config_name: task_006_throw_the_napkin_in_the_trash_can |
| data_files: |
| - split: train |
| path: task_006_throw_the_napkin_in_the_trash_can/data/*/*.parquet |
| - config_name: task_007_put_the_usb_flash_drive_in_the_storage_cabinet |
| data_files: |
| - split: train |
| path: task_007_put_the_usb_flash_drive_in_the_storage_cabinet/data/*/*.parquet |
| - config_name: task_008_clean_the_sponge_and_put_it_into_the_basin |
| data_files: |
| - split: train |
| path: task_008_clean_the_sponge_and_put_it_into_the_basin/data/*/*.parquet |
| - config_name: task_009_throw_away_the_snack_packaging_wipe_the_table |
| data_files: |
| - split: train |
| path: task_009_throw_away_the_snack_packaging_wipe_the_table/data/*/*.parquet |
| - config_name: task_010_put_tableware_into_the_chopstick_cage |
| data_files: |
| - split: train |
| path: task_010_put_tableware_into_the_chopstick_cage/data/*/*.parquet |
| - config_name: task_011_put_fruits_into_the_freshkeeping_box |
| data_files: |
| - split: train |
| path: task_011_put_fruits_into_the_freshkeeping_box/data/*/*.parquet |
| - config_name: task_012_put_the_mat_on_the_table_and_then_put_the_cup_on_the_mat |
| data_files: |
| - split: train |
| path: task_012_put_the_mat_on_the_table_and_then_put_the_cup_on_the_mat/data/*/*.parquet |
| - config_name: task_013_clean_the_cup_with_a_brush |
| data_files: |
| - split: train |
| path: task_013_clean_the_cup_with_a_brush/data/*/*.parquet |
| - config_name: task_014_open_the_lid_and_add_water_to_the_rice_cooker |
| data_files: |
| - split: train |
| path: task_014_open_the_lid_and_add_water_to_the_rice_cooker/data/*/*.parquet |
| - config_name: task_015_put_the_measuring_cup_and_wooden_spoon_on_the_tray |
| data_files: |
| - split: train |
| path: task_015_put_the_measuring_cup_and_wooden_spoon_on_the_tray/data/*/*.parquet |
| - config_name: task_016_wipe_the_countertop_and_place_the_small_pot |
| data_files: |
| - split: train |
| path: task_016_wipe_the_countertop_and_place_the_small_pot/data/*/*.parquet |
| - config_name: task_017_put_the_carrot_on_the_board |
| data_files: |
| - split: train |
| path: task_017_put_the_carrot_on_the_board/data/*/*.parquet |
| - config_name: task_018_put_the_lid_on_the_cup |
| data_files: |
| - split: train |
| path: task_018_put_the_lid_on_the_cup/data/*/*.parquet |
| - config_name: task_019_open_the_drawer_clip_the_eraser_and_put_it_in_the_drawer |
| data_files: |
| - split: train |
| path: task_019_open_the_drawer_clip_the_eraser_and_put_it_in_the_drawer/data/*/*.parquet |
| - config_name: task_020_open_the_drawer_clip_the_stapler_and_put_it_in_the_drawer |
| data_files: |
| - split: train |
| path: task_020_open_the_drawer_clip_the_stapler_and_put_it_in_the_drawer/data/*/*.parquet |
| - config_name: task_021_put_the_ham_sausage_into_the_freshkeeping_box |
| data_files: |
| - split: train |
| path: task_021_put_the_ham_sausage_into_the_freshkeeping_box/data/*/*.parquet |
| - config_name: task_022_the_spatula_goes_into_the_drawer |
| data_files: |
| - split: train |
| path: task_022_the_spatula_goes_into_the_drawer/data/*/*.parquet |
| - config_name: task_023_pick_up_the_object_and_put_it_into_the_sock_storage_box |
| data_files: |
| - split: train |
| path: task_023_pick_up_the_object_and_put_it_into_the_sock_storage_box/data/*/*.parquet |
| - config_name: task_024_pick_up_objects_and_put_them_into_the_sock_storage_box |
| data_files: |
| - split: train |
| path: task_024_pick_up_objects_and_put_them_into_the_sock_storage_box/data/*/*.parquet |
| - config_name: task_025_one_hand_picks_up_the_pen_and_the_other_hand_takes_off_the_cap |
| data_files: |
| - split: train |
| path: task_025_one_hand_picks_up_the_pen_and_the_other_hand_takes_off_the_cap/data/*/*.parquet |
| - config_name: task_026_pick_up_the_vase_and_insert_flowers |
| data_files: |
| - split: train |
| path: task_026_pick_up_the_vase_and_insert_flowers/data/*/*.parquet |
| - config_name: task_027_put_the_items_into_the_small_pillow_storage_box |
| data_files: |
| - split: train |
| path: task_027_put_the_items_into_the_small_pillow_storage_box/data/*/*.parquet |
| - config_name: task_028_folding_square_towels |
| data_files: |
| - split: train |
| path: task_028_folding_square_towels/data/*/*.parquet |
| - config_name: task_029_put_baby_products_into_the_sterilizer |
| data_files: |
| - split: train |
| path: task_029_put_baby_products_into_the_sterilizer/data/*/*.parquet |
| - config_name: task_030_put_the_baby_shoes_into_the_container |
| data_files: |
| - split: train |
| path: task_030_put_the_baby_shoes_into_the_container/data/*/*.parquet |
| --- |
| |
| <h1 align="center"> |
| <font size="6">VISTA: Vision-Grounded and Physics-Validated Adaptation of UMI Data for VLA Training</font> |
| </h1> |
|
|
| <p align="center"> |
| <a href="https://tele-umi-vista.github.io"><img src="https://img.shields.io/badge/🏠_Project-Homepage-1f77b4" alt="Project"></a> |
| <a href="https://arxiv.org/abs/2606.04708"><img src="https://img.shields.io/badge/arXiv-2606.04708-b31b1b" alt="arXiv"></a> |
| <a href="https://github.com/TeleHuman/umi-vista"><img src="https://img.shields.io/badge/Code-VISTA-000000?logo=github" alt="Code"></a> |
| <a href="https://huggingface.co/datasets/TeleEmbodied/UMI-VQA-8M"><img src="https://img.shields.io/badge/🤗_Dataset-UMI--VQA--8M-4caf50" alt="UMI-VQA-8M"></a> |
| <a href="https://huggingface.co/datasets/TeleEmbodied/VISTA-UMI-5K"><img src="https://img.shields.io/badge/🤗_Dataset-VISTA--UMI--5K-ffcc00" alt="VISTA-UMI-5K"></a> |
| </p> |
|
|
| --- |
|
|
| ## Overview |
|
|
| **VISTA-UMI-5K** is a verified robotic manipulation dataset containing **5,000 UMI trajectories** across **30 tabletop manipulation tasks**. |
|
|
| All trajectories are high-quality UMI demonstrations validated through our **physical-validation pipeline** and verified for **high-fidelity replay** on three representative robot embodiments: |
|
|
| - **RealMan rm7500** |
| - **ARX AC one** |
| - **Galaxea R1 Pro** |
|
|
| Each task is organized in **LeRobot v3.0** format. |
|
|
|
|
| ## Task List |
|
|
| | ID | Task | Episodes | |
| |:--:|------|:--------:| |
| | 001 | Press the power button of the power strip. | 166 | |
| | 002 | Transfer the calculator and then place it on the table to align. | 166 | |
| | 003 | The plug is inserted into the power strip. | 166 | |
| | 004 | Unfold the cleaning cloth and wipe the table. | 166 | |
| | 005 | Scaffold handover and alignment. | 166 | |
| | 006 | Throw the napkin in the trash can. | 166 | |
| | 007 | Put the USB flash drive in the storage cabinet. | 166 | |
| | 008 | Clean the sponge and put it into the basin. | 166 | |
| | 009 | Throw away the snack packaging, wipe the table. | 166 | |
| | 010 | Put tableware into the chopstick cage. | 166 | |
| | 011 | Put fruits into the freshkeeping box. | 166 | |
| | 012 | Put the mat on the table and then put the cup on the mat. | 166 | |
| | 013 | Clean the cup with a brush. | 166 | |
| | 014 | Open the lid and add water to the rice cooker. | 166 | |
| | 015 | Put the measuring cup and wooden spoon on the tray. | 186 | |
| | 016 | Wipe the countertop and place the small pot. | 166 | |
| | 017 | Put the carrot on the board. | 166 | |
| | 018 | Put the lid on the cup. | 166 | |
| | 019 | Open the drawer, clip the eraser, and put it in the drawer. | 166 | |
| | 020 | Open the drawer, clip the stapler, and put it in the drawer. | 166 | |
| | 021 | Put the ham sausage into the freshkeeping box. | 166 | |
| | 022 | The spatula goes into the drawer. | 166 | |
| | 023 | Pick up the object and put it into the sock storage box. | 166 | |
| | 024 | Pick up objects and put them into the sock storage box. | 166 | |
| | 025 | One hand picks up the pen and the other hand takes off the cap. | 166 | |
| | 026 | Pick up the vase and insert flowers. | 166 | |
| | 027 | Put the items into the small pillow storage box. | 166 | |
| | 028 | Folding square towels. | 166 | |
| | 029 | Put baby products into the sterilizer. | 166 | |
| | 030 | Put the baby shoes into the container. | 166 | |
| | **Σ** | **30 tasks** | **5,000** | |
|
|
|
|
| ## 📜 Citation |
|
|
| Please consider citing our work if this dataset is useful for your research: |
|
|
| ```bibtex |
| @article{yang2026vista, |
| title = {VISTA: Vision-Grounded and Physics-Validated Adaptation of UMI data for VLA Training}, |
| author = {Siyuan Yang and Linzheng Guo and Ouyang Lu and Zhaxizhuoma and Daoran Zhang and Xinmiao Wang and Ting Xiao and Fangzheng Yan and Zhijun Chen and Yan Ding and Chao Yu and Chenjia Bai and Xuelong Li}, |
| journal = {arXiv preprint arXiv:2606.04708}, |
| year = {2026}, |
| } |
| ``` |
|
|
| --- |
