ICRA-WBCD/IO-AI-SenseXperience-UMI

SenseXperience UMI Human Demonstration Dataset (LeRobot)

This open dataset showcases the real-world data acquisition capability of SenseXperience, our wearable embodied AI data collection platform.

It provides 1,051 episodes, 220,963 frames, and 92 manipulation tasks collected from natural human demonstrations with synchronized multimodal sensors.

Interactive Dataset Browser:

• UMI Dataset: https://io-ai.tech/lerobot/?url=sample%3A%2F%2Fsensexperience_umi
• EGO Dataset: https://io-ai.tech/lerobot/?url=sample%3A%2F%2Fsensexperience_ego

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Dataset Characteristics

• Human demonstrations are collected with a wearable first-person setup.
• No master-arm teleoperation is used during data collection.
• Data is recorded from synchronized multimodal sensors in real environments.
• The released format is compatible with LeRobot workflows.

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Quick Facts

Item	Value
Collection Platform	SenseXperience UMI
Dataset Version	v3.0
Episodes	1,051
Frames	220,963
Tasks	92
Cameras	6 synchronized views
FPS	30
Storage	Parquet + MP4 (H.264)

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What Makes SenseXperience Different

Compared with traditional teleoperation pipelines, SenseXperience emphasizes:

• Natural human demonstrations in real scenarios.
• Lower hardware and deployment complexity.
• Better scalability for large embodied datasets.
• A direct path from collection to LeRobot training.

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Tasks

The dataset includes 92 real-world manipulation tasks, such as:

• Pick-and-place and object transfer
• Shelf and container interaction
• Household interaction
• Dexterous bimanual manipulation
• Human-object interaction

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Data Schema and Sensors

Camera Observations

Camera	Resolution	Role
camera_head_left	2048x1536	Left egocentric head view
camera_head_right	2048x1536	Right egocentric head view
camera_left_wrist	2048x1536	Left wrist manipulation view
camera_right_wrist	2048x1536	Right wrist manipulation view
camera_depth_head	800x600	Head depth camera (RGB-encoded)
camera_gripper	800x600	Gripper camera

All videos are time-synchronized and encoded with H.264 at 30 FPS.

Human Motion Features

7-DoF poses are provided for:

• Head
• Left gripper
• Right gripper

Pose format:

[x, y, z, qx, qy, qz, qw]

Gripper state format:

[
  left_Left_Gripper_IntegratedPose_rad,
  left_Left_Gripper_IntegratedPose_dist,
  right_Right_Gripper_IntegratedPose_rad,
  right_Right_Gripper_IntegratedPose_dist
]

Feature Specification

Feature	Type	Shape
observation.images.camera_head_left	video	(1536, 2048, 3)
observation.images.camera_head_right	video	(1536, 2048, 3)
observation.images.camera_left_wrist	video	(1536, 2048, 3)
observation.images.camera_right_wrist	video	(1536, 2048, 3)
observation.images.camera_depth_head	video	(600, 800, 3)
observation.images.camera_gripper	video	(600, 800, 3)
observation.pose.head	float32	(7,)
observation.pose.left_gripper	float32	(7,)
observation.pose.right_gripper	float32	(7,)
observation.state	float64	(4,)

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Dataset Layout

data/
  chunk-000/
    file-000.parquet

videos/
  observation.images.camera_head_left/
    chunk-000/
      file-000.mp4

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Quick Start (LeRobot)

from lerobot.datasets.lerobot_dataset import LeRobotDataset

dataset = LeRobotDataset("ICRA-WBCD/IO-AI-SenseXperience-UMI")

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Recommended Uses

• Embodied AI pretraining
• Vision-Language-Action (VLA) training
• Imitation learning from human demonstrations
• Human-to-robot transfer research
• Multiview manipulation understanding

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Limitations and Roadmap

Current Limitations

• Mainly focused on indoor manipulation tasks.
• Human demonstrations include natural execution variance.
• Depth observations are currently RGB-encoded videos.
• This release does not yet include robot action labels.

Planned Extensions

• Robot action annotations
• Hand keypoints
• More environments and task categories
• Language annotations
• Calibration metadata

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Learn More About SenseXperience

This dataset is an open demonstration of SenseXperience data collection quality and scalability.

• Product website: https://io-ai.tech/en/sensexperience/
• Technical specs: https://io-ai.tech/en/sensexperience/specs/
• Company website: https://io-ai.tech/en/
• Contact for pilot projects or custom data programs: io@io-ai.tech

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License

Released under the Apache-2.0 License.

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Citation

@dataset{sensexperience_umi_dataset,
  title={SenseXperience UMI Human Demonstration Dataset},
  author={IO-AI.tech},
  year={2026},
  publisher={io <io@io-ai.tech>}
}