license: mit
pretty_name: UMI (Universal Manipulation Interface) data
tags:
- robotics
UMI (Universal Manipulation Interface) data
Demonstration data of UMI, collected by the authors: the raw GoPro recordings and the UMI SLAM pipeline session workspaces of the paper's tasks, plus the processed zarr datasets. Deduplicated: the authors' *_mp4s.zip packagings and the colleague-made transcodes are not repeated (see Layout).
- Code: https://github.com/real-stanford/universal_manipulation_interface
- Paper / project page: https://arxiv.org/abs/2402.10329
Layout
<task>/<name>.zarr.zip: the processed UMI replay buffer of each task, the format the UMI training code reads (data/camera0_rgb 224x224 JPEG-XL frames, data/robot0_eef_pos, data/robot0_eef_rot_axis_angle, data/robot0_gripper_width, meta/episode_ends; the bimanual tasks also carry camera1_* / robot1_*). cup_in_the_wild.zarr.zip is the file published at https://real.stanford.edu/umi/data/zarr_datasets/. cup_in_the_wild/mp4s/<location>/, cup_in_lab/mp4s/<date>/, dynamic_tossing/mp4s/<date>/: the raw GoPro recordings (demo_*.mp4, mapping*.mp4, gripper_calibration_*.mp4), i.e. the raw_videos/ input of the UMI SLAM pipeline. bimanual_cloth_folding/sessions/<session>/ and bimanual_dish_washing/sessions/<session>/: the UMI SLAM pipeline workspace of each bimanual recording session: demos/<demo>/ with raw_video.mp4, imu_data.json, tag_detection.pkl, slam_mask.png, camera_trajectory.csv (when SLAM succeeded) and the stage logs, demos/mapping*/ with map_atlas.osa and tx_slam_tag.json, demos/gripper_calibration_*/ with gripper_range.json, calibration/ (some sessions) and dataset_plan.pkl. The pipeline's raw_videos/ directory is omitted: it held only symlinks to demos/*/raw_video.mp4. bimanual_cloth_folding/open_source_slam_reruns/<session>_480/: the SLAM re-runs of sessions 20231228_cheng and 20231228_zhenjia made for the open-source release (same videos, omitted here; different camera_trajectory.csv, map_atlas.osa, dataset_plan.pkl). The authors' open-source packagings bimanual_cloth_folding_mp4s.zip (sessions 20231228_cheng + 20240103_zhenjia) and bimanual_dish_washing_mp4s.zip (session 20240109_zhenjia) were byte copies of those sessions' demos/*/raw_video.mp4 and are not repeated. Every zarr store is one *.zarr.zip: an uncompressed zip of the store's files, readable in place with zarr.open(zarr.storage.ZipStore(path, mode="r")) or unpacked with unzip -d <name>.zarr <name>.zarr.zip.
Contents
| path | files | GB |
|---|---|---|
bimanual_cloth_folding |
1 | 14.71 |
bimanual_cloth_folding/open_source_slam_reruns |
2225 | 1.08 |
bimanual_cloth_folding/sessions |
11164 | 185.84 |
bimanual_dish_washing |
1 | 22.84 |
bimanual_dish_washing/sessions |
9591 | 218.99 |
cup_in_lab |
1 | 4.49 |
cup_in_lab/mp4s |
350 | 30.23 |
cup_in_the_wild |
1 | 17.99 |
cup_in_the_wild/mp4s |
2932 | 221.43 |
dynamic_tossing |
1 | 8.78 |
dynamic_tossing/mp4s |
298 | 47.39 |
| total | 26565 | 773.8 |
License
MIT, the license of the project's GitHub repository (https://github.com/real-stanford/universal_manipulation_interface).