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UMIUMI Hand-held · v1.0
UMI 手持桌面抓取数据集（Quest 同步）
基于手持 UMI 夹爪采集的桌面抓取演示，绑定 Quest 头显进行 6-DoF 位姿与时间同步。包含手持相机视频、关节编码器、IMU 与多源时钟偏移，适合 Diffusion Policy 与行为克隆。预览由真实 MCAP 解析生成。
Tabletop manipulation桌面抓取拾取放置
Data preview
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Basic info
Data typeUMI Hand-held
Supplier具身智能数据实验室
ModalitiesMonocular / RGB / IMU / Pose / Joint encoders
Data scale1 min
Episodes1
Total duration1 min
Avg. episode1m 1s
File formatsMCAP / MP4
Resolution720x406
Frame rate30 fps
LicenseResearch / Commercial
Price / quote¥9,800
Robot modelUMI 手持夹爪 + Quest
Listed2026/07/16
Data quality
Quality score 4.5 / 5Anonymized
Valid episodes1
Avg. episode length61.3s
Missing rate0.6%
Label completeness94.0%
Success rate97.0%
Time-sync error1.8 ms
Dataset notes
Capture method
手持 UMI 夹爪 + Quest 位姿，多源时间同步
Capture device
UMI 手持夹爪 + Meta Quest
Robot config
无本体，手持采集
Sensor config
手持相机 + 关节编码器 + IMU
Coordinates
Quest world 系，单位 m
Time sync
PTP + Quest 时钟偏移联合校正
Annotation
成功/失败 + episode 标记
File structure
single-file MCAP
Fixed price
¥9,800/ dataset license
ResearchCommercial
A license is generated automatically after payment. With a valid license you can download the full data; every download is logged.
具身智能数据实验室
Verified supplier · 李航
Trade info
Price modeFixed price
PreviewableYes
Sample availableYes
AnonymizationAnonymized
Updated2026/07/17 16:06