UMI (Universal Manipulation Interface) datasets

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/.

Facts

Organisation: Stanford REAL Lab (real-stanford) / Columbia
Form tags: single arm
Embodiments (as stated): hand-held parallel jaw gripper with GoPro (data collection device) · UR5e · UR5 · Franka · ARX X5
Episodes: unverified
Hours: unverified
Frames: unverified
Tasks: cup arrangement (cup_in_the_wild) + example demo session released; paper covers dynamic, bimanual, precise and long-horizon tasks
Scenes: 30 different locations around Stanford (cup_in_the_wild)
Modalities: rgb · state
Format: zarr (.zarr.zip)
Licence: MIT (code repository); dataset license not separately stated
Commercial use: unverified
Released: 2024-02
Size: unverified

Sources · 7 sources

embodiments https://github.com/real-stanford/universal_manipulation_interface Official page · Fetched 2026-09-18 · No snapshot stored yet 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 Official page · Fetched 2026-09-18 · No snapshot stored yet 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 Official page · Fetched 2026-09-18 · No snapshot stored yet Cup arrangement policy trained 'across 30 different locations around Stanford'

modalities https://github.com/real-stanford/universal_manipulation_interface Official page · Fetched 2026-09-18 · No snapshot stored yet GoPro camera feeds and gripper data; 'up to 2 arms and unlimited number of cameras'

format https://github.com/real-stanford/universal_manipulation_interface Official page · Fetched 2026-09-18 · No snapshot stored yet dataset.zarr.zip

license https://github.com/real-stanford/universal_manipulation_interface Official page · Fetched 2026-09-18 · No snapshot stored yet 'This repository is released under the MIT license.' — applies to code; no separate dataset license found

release_date https://arxiv.org/abs/2402.10329 Official page · Fetched 2026-09-18 · No snapshot stored yet Submitted 15 Feb 2024; RSS 2024

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