TeleEmbodied/VISTA-UMI-5K

VISTA: Vision-Grounded and Physics-Validated Adaptation of UMI Data for VLA Training

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Overview

VISTA-UMI-5K is a verified robotic manipulation dataset containing 5,000 UMI trajectories across 30 tabletop manipulation tasks.

All trajectories are high-quality UMI demonstrations validated through our physical-validation pipeline and verified for high-fidelity replay on three representative robot embodiments:

• RealMan rm7500
• ARX AC one
• Galaxea R1 Pro

Each task is organized in LeRobot v3.0 format.

Task List

ID	Task	Episodes
001	Press the power button of the power strip.	166
002	Transfer the calculator and then place it on the table to align.	166
003	The plug is inserted into the power strip.	166
004	Unfold the cleaning cloth and wipe the table.	166
005	Scaffold handover and alignment.	166
006	Throw the napkin in the trash can.	166
007	Put the USB flash drive in the storage cabinet.	166
008	Clean the sponge and put it into the basin.	166
009	Throw away the snack packaging, wipe the table.	166
010	Put tableware into the chopstick cage.	166
011	Put fruits into the freshkeeping box.	166
012	Put the mat on the table and then put the cup on the mat.	166
013	Clean the cup with a brush.	166
014	Open the lid and add water to the rice cooker.	166
015	Put the measuring cup and wooden spoon on the tray.	186
016	Wipe the countertop and place the small pot.	166
017	Put the carrot on the board.	166
018	Put the lid on the cup.	166
019	Open the drawer, clip the eraser, and put it in the drawer.	166
020	Open the drawer, clip the stapler, and put it in the drawer.	166
021	Put the ham sausage into the freshkeeping box.	166
022	The spatula goes into the drawer.	166
023	Pick up the object and put it into the sock storage box.	166
024	Pick up objects and put them into the sock storage box.	166
025	One hand picks up the pen and the other hand takes off the cap.	166
026	Pick up the vase and insert flowers.	166
027	Put the items into the small pillow storage box.	166
028	Folding square towels.	166
029	Put baby products into the sterilizer.	166
030	Put the baby shoes into the container.	166
Σ	30 tasks	5,000

📜 Citation

Please consider citing our work if this dataset is useful for your research:

@article{yang2026vista,
  title   = {VISTA: Vision-Grounded and Physics-Validated Adaptation of UMI data for VLA Training}, 
  author  = {Siyuan Yang and Linzheng Guo and Ouyang Lu and Zhaxizhuoma and Daoran Zhang and Xinmiao Wang and Ting Xiao and Fangzheng Yan and Zhijun Chen and Yan Ding and Chao Yu and Chenjia Bai and Xuelong Li},
  journal = {arXiv preprint arXiv:2606.04708},
  year    = {2026},
}

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