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UMIUMI Hand-held · v1.0
UMI 桌面物体抓取与放置数据集（Quest 同步）
基于手持 UMI 夹爪采集的桌面抓取物品放置，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抓取，放置，桌面操作
Data preview
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Basic info
Data typeUMI Hand-held
Supplier平台管理员
ModalitiesJoint encoders / Pose / Stereo / RGB / RGB-D / IMU / Gripper state
Data scale3000 h
Episodes105050
Total duration3000 h
Avg. episode1m 0s
File formatsMCAP / MP4 / JSON
Resolution1080x1920
Frame rate30 fps
LicenseResearch / Commercial / Internal use / Exclusive / Subscription / Sample Data
Price / quotePrice on request
Robot model无本体
Listed2026/08/19
Data quality
Anonymizing
Avg. episode length60.0s
Dataset notes
Capture method
便携式 UMI + RGB-D 相机+Quest
Price on request
Quoted by volume and licensing terms
ResearchCommercialInternal useExclusiveSubscriptionSample Data
Our team will follow up after you submit and quote based on volume and licensing. Licensed data can be downloaded directly; every download is logged.
平台管理员
Supplier · 平台管理员
Trade info
PreviewableYes
Sample availableYes
AnonymizationAnonymized
Updated2026/08/19 12:58