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UMI (Universal Manipulation Interface) datasets

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Real-world demonstrations collected with a handheld gripper (not a robot arm); episode counts not stated on fetched pages. Data hosted at real.stanford.edu/umi/data/.

基本事实

机构
Stanford REAL Lab (real-stanford) / Columbia
形态标签
单臂
本体（按原文）
hand-held parallel jaw gripper with GoPro (data collection device) · UR5e · UR5 · Franka · ARX X5
轨迹数
待核实
小时数
待核实
帧数
待核实
任务
cup arrangement (cup_in_the_wild) + example demo session released; paper covers dynamic, bimanual, precise and long-horizon tasks
场景
30 different locations around Stanford (cup_in_the_wild)
模态
rgb · state
格式
zarr (.zarr.zip)
许可证
MIT (code repository); dataset license not separately stated
商用
待核实
发布
2024-02
体积
待核实
来源 · 7 条来源
embodiments https://github.com/real-stanford/universal_manipulation_interface 官方页面 · 抓取 2026-09-18 · 尚未存快照 UR5/UR5e, Franka (separate instructions), 'ARX X5 Robot Arms'; landing page: 'hand-held parallel jaw gripper, mounted with a GoPro camera' deployable on 'UR5e and Franka robots'
tasks https://github.com/real-stanford/universal_manipulation_interface 官方页面 · 抓取 2026-09-18 · 尚未存快照 Download links: real.stanford.edu/umi/data/zarr_datasets/cup_in_the_wild.zarr.zip and example_demo_session/
scenes https://github.com/real-stanford/universal_manipulation_interface 官方页面 · 抓取 2026-09-18 · 尚未存快照 Cup arrangement policy trained 'across 30 different locations around Stanford'
modalities https://github.com/real-stanford/universal_manipulation_interface 官方页面 · 抓取 2026-09-18 · 尚未存快照 GoPro camera feeds and gripper data; 'up to 2 arms and unlimited number of cameras'
format https://github.com/real-stanford/universal_manipulation_interface 官方页面 · 抓取 2026-09-18 · 尚未存快照 dataset.zarr.zip
license https://github.com/real-stanford/universal_manipulation_interface 官方页面 · 抓取 2026-09-18 · 尚未存快照 'This repository is released under the MIT license.' — applies to code; no separate dataset license found
release_date https://arxiv.org/abs/2402.10329 官方页面 · 抓取 2026-09-18 · 尚未存快照 Submitted 15 Feb 2024; RSS 2024

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