Hugging Face's logo

Datasets:
RAIDS666
/
TacUMI

Dataset card Files
xet
 Community
Dataset Viewer
Duplicate
The dataset viewer is not available for this split.
Cannot extract the features (columns) for the split 'train' of the config 'default' of the dataset.
Error code:   FeaturesError
Exception:    UnicodeDecodeError
Message:      'utf-8' codec can't decode byte 0xff in position 0: invalid start byte
Traceback:    Traceback (most recent call last):
                File "/src/services/worker/src/worker/job_runners/split/first_rows.py", line 247, in compute_first_rows_from_streaming_response
                  iterable_dataset = iterable_dataset._resolve_features()
                                     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 4196, in _resolve_features
                  features = _infer_features_from_batch(self.with_format(None)._head())
                                                        ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 2533, in _head
                  return next(iter(self.iter(batch_size=n)))
                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 2711, in iter
                  for key, pa_table in ex_iterable.iter_arrow():
                                       ^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 2249, in _iter_arrow
                  yield from self.ex_iterable._iter_arrow()
                File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 494, in _iter_arrow
                  for key, pa_table in iterator:
                                       ^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 384, in _iter_arrow
                  for key, pa_table in self.generate_tables_fn(**gen_kwags):
                                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/text/text.py", line 98, in _generate_tables
                  batch = f.read(self.config.chunksize)
                          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/utils/file_utils.py", line 844, in read_with_retries
                  out = read(*args, **kwargs)
                        ^^^^^^^^^^^^^^^^^^^^^
                File "<frozen codecs>", line 322, in decode
              UnicodeDecodeError: 'utf-8' codec can't decode byte 0xff in position 0: invalid start byte

Need help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.

YAML Metadata Warning:empty or missing yaml metadata in repo card

Check out the documentation for more information.

TacUMI Dataset

Hugging Face: RAIDS666/TacUMI

TacUMI 遥操作采集数据的发布仓库。顶层目录按任务类型划分，每个任务包含从原始视频到训练数据的完整流水线产物。

目录结构 

TacUMI/
├── README.md
├── plugin_socket/                          # 插插座任务
│   ├── raw_videos/                         # 原始 GoPro 视频（约 280 条）及标定素材
│   ├── demos/                              # SLAM 流水线中间结果（282 个 demo 目录）
│   ├── dataset_plan.pkl                    # 数据集规划（位姿对齐、episode 划分等）
│   ├── dataset.zarr.zip                    # 训练用 replay buffer（4.2 GB）
│   └── dataset2.zarr.zip                   # 另一 TCP 偏移设定下的 replay buffer（4.2 GB）
└── checkpoints/
    └── plugin_socket/
        └── latest.ckpt                     # 该任务的 diffusion policy 权重（1.3 GB）

后续新增任务时，在仓库根目录添加同级文件夹即可，例如 cup_in_the_wild/，对应 checkpoint 放在 checkpoints/cup_in_the_wild/。

下载 

pip install -U huggingface_hub

# 下载整个仓库
hf download RAIDS666/TacUMI --repo-type dataset --local-dir ./TacUMI

# 只下载训练所需的最小集合
hf download RAIDS666/TacUMI \
  plugin_socket/dataset.zarr.zip \
  checkpoints/plugin_socket/latest.ckpt \
  --repo-type dataset --local-dir ./TacUMI

各文件说明

路径 大小 说明
plugin_socket/raw_videos/ ~22 GB 源视频；含 gripper_calibration/、first_frame_grids/
plugin_socket/demos/ ~23 GB 每条 demo 的 SLAM、IMU、夹爪宽度等中间文件
plugin_socket/dataset_plan.pkl ~10 MB 由 06_generate_dataset_plan.py 生成
plugin_socket/dataset.zarr.zip ~4.2 GB replay buffer，cam_to_tip_offset = tcp_offset - cam_to_mount_offset
plugin_socket/dataset2.zarr.zip ~4.2 GB replay buffer，另一 TCP 偏移设定；对比后选用更合理的一个
checkpoints/plugin_socket/latest.ckpt ~1.3 GB 该任务的 diffusion policy，用于真机 eval

在 TacUMI 代码库中使用

将下载内容放到项目目录后（或直接用 --local-dir 指到工作区）：

conda activate umi

# 从原始视频重新跑 SLAM（需 raw_videos/）
python run_slam_pipeline.py plugin_socket

# 从 demos/ 重新生成 zarr
python scripts_slam_pipeline/07_generate_replay_buffer.py \
  -o plugin_socket/dataset.zarr.zip plugin_socket

# 训练
python train.py --config-name=train_diffusion_unet_timm_umi_workspace \
  plugin_socket/dataset.zarr.zip

# 真机推理
python eval_real.py -rc example/eval_robots_config.yaml \
  -i checkpoints/plugin_socket/latest.ckpt -o data_local/plugin

dataset.zarr.zip 与 dataset2.zarr.zip

两者来自同一批 demo，区别是生成 dataset plan 时对相机到 TCP 偏移的计算方式不同。建议分别训练或评估，选取与真机行为更一致的一个。偏移逻辑见仓库内 scripts_slam_pipeline/06_generate_dataset_plan.py。

上传（维护者） 

cd data
hf upload-large-folder RAIDS666/TacUMI . --repo-type dataset \
  --commit-message "Update plugin_socket task layout"
Downloads last month
5
Total file size:
59 GB