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VISTA-UMI-5K

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  license: apache-2.0
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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  ---
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  license: apache-2.0
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+ task_categories:
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+ - robotics
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+ tags:
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+ - LeRobot
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+ - fastumi
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+ - umi
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+ configs:
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+ - config_name: task_001_press_the_power_button_of_the_power_strip
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+ default: true
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+ data_files:
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+ - split: train
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+ path: task_001_press_the_power_button_of_the_power_strip/data/*/*.parquet
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+ - config_name: task_002_transfer_the_calculator_and_then_place_it_on_the_table_to_align
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+ data_files:
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+ - split: train
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+ path: task_002_transfer_the_calculator_and_then_place_it_on_the_table_to_align/data/*/*.parquet
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+ - config_name: task_003_the_plug_is_inserted_into_the_power_strip
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+ data_files:
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+ - split: train
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+ path: task_003_the_plug_is_inserted_into_the_power_strip/data/*/*.parquet
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+ - config_name: task_004_unfold_the_cleaning_cloth_and_wipe_the_table
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+ data_files:
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+ - split: train
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+ path: task_004_unfold_the_cleaning_cloth_and_wipe_the_table/data/*/*.parquet
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+ - config_name: task_005_scaffold_handover_and_alignment
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+ data_files:
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+ - split: train
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+ path: task_005_scaffold_handover_and_alignment/data/*/*.parquet
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+ - config_name: task_006_throw_the_napkin_in_the_trash_can
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+ data_files:
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+ - split: train
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+ path: task_006_throw_the_napkin_in_the_trash_can/data/*/*.parquet
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+ - config_name: task_007_put_the_usb_flash_drive_in_the_storage_cabinet
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+ data_files:
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+ - split: train
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+ path: task_007_put_the_usb_flash_drive_in_the_storage_cabinet/data/*/*.parquet
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+ - config_name: task_008_clean_the_sponge_and_put_it_into_the_basin
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+ data_files:
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+ - split: train
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+ path: task_008_clean_the_sponge_and_put_it_into_the_basin/data/*/*.parquet
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+ - config_name: task_009_throw_away_the_snack_packaging_wipe_the_table
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+ data_files:
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+ - split: train
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+ path: task_009_throw_away_the_snack_packaging_wipe_the_table/data/*/*.parquet
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+ - config_name: task_010_put_tableware_into_the_chopstick_cage
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+ data_files:
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+ - split: train
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+ path: task_010_put_tableware_into_the_chopstick_cage/data/*/*.parquet
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+ - config_name: task_011_put_fruits_into_the_freshkeeping_box
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+ data_files:
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+ - split: train
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+ path: task_011_put_fruits_into_the_freshkeeping_box/data/*/*.parquet
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+ - config_name: task_012_put_the_mat_on_the_table_and_then_put_the_cup_on_the_mat
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+ data_files:
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+ - split: train
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+ path: task_012_put_the_mat_on_the_table_and_then_put_the_cup_on_the_mat/data/*/*.parquet
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+ - config_name: task_013_clean_the_cup_with_a_brush
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+ data_files:
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+ - split: train
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+ path: task_013_clean_the_cup_with_a_brush/data/*/*.parquet
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+ - config_name: task_014_open_the_lid_and_add_water_to_the_rice_cooker
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+ data_files:
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+ - split: train
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+ path: task_014_open_the_lid_and_add_water_to_the_rice_cooker/data/*/*.parquet
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+ - config_name: task_015_put_the_measuring_cup_and_wooden_spoon_on_the_tray
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+ data_files:
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+ - split: train
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+ path: task_015_put_the_measuring_cup_and_wooden_spoon_on_the_tray/data/*/*.parquet
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+ - config_name: task_016_wipe_the_countertop_and_place_the_small_pot
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+ data_files:
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+ - split: train
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+ path: task_016_wipe_the_countertop_and_place_the_small_pot/data/*/*.parquet
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+ - config_name: task_017_put_the_carrot_on_the_board
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+ data_files:
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+ - split: train
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+ path: task_017_put_the_carrot_on_the_board/data/*/*.parquet
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+ - config_name: task_018_put_the_lid_on_the_cup
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+ data_files:
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+ - split: train
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+ path: task_018_put_the_lid_on_the_cup/data/*/*.parquet
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+ - config_name: task_019_open_the_drawer_clip_the_eraser_and_put_it_in_the_drawer
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+ data_files:
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+ - split: train
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+ path: task_019_open_the_drawer_clip_the_eraser_and_put_it_in_the_drawer/data/*/*.parquet
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+ - config_name: task_020_open_the_drawer_clip_the_stapler_and_put_it_in_the_drawer
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+ data_files:
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+ - split: train
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+ path: task_020_open_the_drawer_clip_the_stapler_and_put_it_in_the_drawer/data/*/*.parquet
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+ - config_name: task_021_put_the_ham_sausage_into_the_freshkeeping_box
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+ data_files:
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+ - split: train
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+ path: task_021_put_the_ham_sausage_into_the_freshkeeping_box/data/*/*.parquet
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+ - config_name: task_022_the_spatula_goes_into_the_drawer
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+ data_files:
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+ - split: train
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+ path: task_022_the_spatula_goes_into_the_drawer/data/*/*.parquet
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+ - config_name: task_023_pick_up_the_object_and_put_it_into_the_sock_storage_box
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+ data_files:
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+ - split: train
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+ path: task_023_pick_up_the_object_and_put_it_into_the_sock_storage_box/data/*/*.parquet
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+ - config_name: task_024_pick_up_objects_and_put_them_into_the_sock_storage_box
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+ data_files:
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+ - split: train
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+ path: task_024_pick_up_objects_and_put_them_into_the_sock_storage_box/data/*/*.parquet
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+ - config_name: task_025_one_hand_picks_up_the_pen_and_the_other_hand_takes_off_the_cap
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+ data_files:
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+ - split: train
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+ path: task_025_one_hand_picks_up_the_pen_and_the_other_hand_takes_off_the_cap/data/*/*.parquet
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+ - config_name: task_026_pick_up_the_vase_and_insert_flowers
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+ data_files:
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+ - split: train
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+ path: task_026_pick_up_the_vase_and_insert_flowers/data/*/*.parquet
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+ - config_name: task_027_put_the_items_into_the_small_pillow_storage_box
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+ data_files:
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+ - split: train
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+ path: task_027_put_the_items_into_the_small_pillow_storage_box/data/*/*.parquet
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+ - config_name: task_028_folding_square_towels
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+ data_files:
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+ - split: train
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+ path: task_028_folding_square_towels/data/*/*.parquet
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+ - config_name: task_029_put_baby_products_into_the_sterilizer
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+ data_files:
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+ - split: train
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+ path: task_029_put_baby_products_into_the_sterilizer/data/*/*.parquet
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+ - config_name: task_030_put_the_baby_shoes_into_the_container
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+ data_files:
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+ - split: train
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+ path: task_030_put_the_baby_shoes_into_the_container/data/*/*.parquet
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  ---
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+
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+ # UMI Open 5000 (30 Tasks)
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+
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+ Sampled multi-task manipulation dataset in [LeRobot Dataset v3.0](https://huggingface.co/docs/lerobot/lerobot-dataset-v3) format.
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+
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+ - **Robot:** `fastumi` (dual-arm UMI)
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+ - **Episodes per task:** 166 (sampled)
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+ - **Layout:** 30 independent LeRobot datasets as subfolders under this repository root
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+
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+ ## Dataset Viewer
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+
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+ Use the **Subset** dropdown (top of the Viewer) to switch among `task_001` … `task_030`.
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+
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+ Each subset exposes tabular columns from `data/**/*.parquet` (e.g. `observation.state`, `action`, `episode_index`).
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+ **Camera video** is stored under each task's `videos/` directory (MP4 shards), not inside parquet — the Hub Viewer does **not** render those streams as images (same as [lerobot/pusht](https://huggingface.co/datasets/lerobot/pusht)).
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+