In-the-Wild Compliant Manipulation with UMI-FT
Paper • 2601.09988 • Published
Dataset Viewer
The dataset viewer is not available for this split.
Cannot load the dataset split (in streaming mode) to extract the first rows.
Error code: StreamingRowsError
Exception: ValueError
Message: Invalid string class label all
Traceback: Traceback (most recent call last):
File "/src/services/worker/src/worker/utils.py", line 147, in get_rows_or_raise
return get_rows(
dataset=dataset,
...<4 lines>...
column_names=column_names,
)
File "/src/libs/libcommon/src/libcommon/utils.py", line 272, in decorator
return func(*args, **kwargs)
File "/src/services/worker/src/worker/utils.py", line 127, in get_rows
rows_plus_one = list(itertools.islice(safe_iter(ds, dataset=dataset), rows_max_number + 1))
File "/src/services/worker/src/worker/utils.py", line 483, in safe_iter
yield from ds.decode(False) if ds.features else ds
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2951, in __iter__
for key, example in ex_iterable:
^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2474, in __iter__
example = _apply_feature_types_on_example(
example, self.features, token_per_repo_id=self.token_per_repo_id
)
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2391, in _apply_feature_types_on_example
encoded_example = features.encode_example(example)
File "/usr/local/lib/python3.14/site-packages/datasets/features/features.py", line 2192, in encode_example
return encode_nested_example(self, example)
File "/usr/local/lib/python3.14/site-packages/datasets/features/features.py", line 1472, in encode_nested_example
{k: encode_nested_example(schema[k], obj.get(k), level=level + 1) for k in schema}
~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/features/features.py", line 1495, in encode_nested_example
return schema.encode_example(obj) if obj is not None else None
~~~~~~~~~~~~~~~~~~~~~^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/features/features.py", line 1168, in encode_example
example_data = self.str2int(example_data)
File "/usr/local/lib/python3.14/site-packages/datasets/features/features.py", line 1105, in str2int
output = [self._strval2int(value) for value in values]
~~~~~~~~~~~~~~~~^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/features/features.py", line 1126, in _strval2int
raise ValueError(f"Invalid string class label {value}")
ValueError: Invalid string class label allNeed help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
UMI-FT data
Demonstration data of UMI-FT, collected by the authors.
- Code: https://github.com/real-stanford/UMI-FT
- Paper / project page: https://arxiv.org/abs/2601.09988
Layout
<session>/UMI_iPhone/<collection date>/<timestamp>_<id>_<session>_{demonstration,grippercalibration}/: the iPhone recordings. An iPhone demonstration folder holds *_rgb.mp4 (main camera), *_ultrawidergb.mp4 (ultrawide camera), *_depth.raw with *_depthconfidence.mp4 / *_depthpreview.mp4 (LiDAR depth) and *.json (per-frame ARKit camera pose, intrinsics and timestamps); *_grippercalibration* folders are the gripper calibration recordings of a session. <session>/coinft/UMIFT_data_<date>_<time>_<session>_{LF,RF}.csv: CoinFT force / torque log of the left / right finger. <session>/processed_data/all/: replay_buffer_gripper.zarr.zip and acp_replay_buffer_gripper.zarr.zip (the zarr replay buffers of the session) and ft_data_<session>_pre_trim.json. pod/: three loose recordings. 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 |
|---|---|---|
WBW2-addition-b0/UMI_iPhone |
302 | 4.61 |
WBW2-addition-b0/coinft |
100 | 0.61 |
WBW2-addition-b0/processed_data |
3 | 3.59 |
WBW2-addition-b1/UMI_iPhone |
308 | 4.77 |
WBW2-addition-b1/coinft |
102 | 0.62 |
WBW2-addition-b1/processed_data |
3 | 3.72 |
WBW2-harderGrasp-b0-nameChangedTemp/UMI_iPhone |
314 | 5.59 |
WBW2-harderGrasp-b0-nameChangedTemp/coinft |
104 | 0.54 |
WBW2-harderGrasp-b0-nameChangedTemp/processed_data |
3 | 4.02 |
WBW2-harderGrasp-b0/UMI_iPhone |
8 | 0.11 |
WBW2-harderGrasp-b0/coinft |
2 | 0.01 |
WBW2-harderGrasp-b1/UMI_iPhone |
302 | 5.10 |
WBW2-harderGrasp-b1/coinft |
100 | 0.52 |
WBW2-harderGrasp-b1/processed_data |
3 | 3.76 |
WBW2-plain-b0/UMI_iPhone |
224 | 4.06 |
WBW2-plain-b0/coinft |
74 | 0.39 |
WBW2-plain-b0/processed_data |
3 | 3.00 |
WBW2-plain-b1/UMI_iPhone |
524 | 8.29 |
WBW2-plain-b1/coinft |
174 | 0.91 |
WBW2-plain-b1/processed_data |
3 | 6.37 |
WBW2-plain-b2/UMI_iPhone |
458 | 7.76 |
WBW2-plain-b2/coinft |
152 | 0.80 |
WBW2-plain-b2/processed_data |
3 | 5.94 |
WBW2-smallerDrawing-b0/UMI_iPhone |
302 | 4.63 |
WBW2-smallerDrawing-b0/coinft |
100 | 0.52 |
WBW2-smallerDrawing-b0/processed_data |
3 | 3.45 |
WBW2-wristOvershoot-b0/UMI_iPhone |
338 | 5.35 |
WBW2-wristOvershoot-b0/coinft |
112 | 0.60 |
WBW2-wristOvershoot-b0/processed_data |
3 | 4.00 |
WBW2-wristOvershoot-b1/UMI_iPhone |
116 | 1.79 |
WBW2-wristOvershoot-b1/coinft |
38 | 0.20 |
WBW2-wristOvershoot-b1/processed_data |
3 | 1.34 |
cup-arrangement-test/UMI_iPhone |
50 | 0.59 |
cup-arrangement-test/coinft |
16 | 0.08 |
cup-arrangement-test/processed_data |
3 | 0.51 |
lightbulb-cleanRelease-b0/UMI_iPhone |
602 | 5.39 |
lightbulb-cleanRelease-b0/coinft |
200 | 0.72 |
lightbulb-cleanRelease-b0/processed_data |
3 | 4.36 |
lightbulb-cleanRelease-b1/UMI_iPhone |
602 | 5.39 |
lightbulb-cleanRelease-b1/coinft |
200 | 0.70 |
lightbulb-cleanRelease-b1/processed_data |
3 | 4.36 |
lightbulb-plain-b0/UMI_iPhone |
260 | 2.43 |
lightbulb-plain-b0/coinft |
86 | 0.40 |
lightbulb-plain-b0/processed_data |
3 | 2.06 |
lightbulb-plain-b1/UMI_iPhone |
464 | 4.52 |
lightbulb-plain-b1/coinft |
152 | 0.61 |
lightbulb-plain-b1/processed_data |
3 | 3.62 |
lightbulb-plain-b2/UMI_iPhone |
488 | 4.37 |
lightbulb-plain-b2/coinft |
162 | 0.71 |
lightbulb-plain-b2/processed_data |
3 | 3.73 |
lightbulb-soft-b0/UMI_iPhone |
608 | 5.69 |
lightbulb-soft-b0/coinft |
202 | 0.85 |
lightbulb-soft-b0/processed_data |
3 | 4.73 |
lightbulb-soft-b1/UMI_iPhone |
596 | 4.61 |
lightbulb-soft-b1/coinft |
198 | 0.76 |
lightbulb-soft-b1/processed_data |
3 | 3.94 |
pod/2025-06-11T01-20-28.696Z_71393_WBW2-wristOvershoot-b0_demonstration |
8 | 0.10 |
pod/2025-07-10T20-34-58.378Z_99318_skewer-zucchini-b1_demonstration |
8 | 0.04 |
pod/2025-08-20T22-47-00.158Z_54222_lightbulb-soft-b1_demonstration |
8 | 0.05 |
skewer-zucchini-b0/UMI_iPhone |
134 | 1.28 |
skewer-zucchini-b0/coinft |
44 | 0.19 |
skewer-zucchini-b0/processed_data |
3 | 1.05 |
skewer-zucchini-b1/UMI_iPhone |
584 | 3.88 |
skewer-zucchini-b1/coinft |
194 | 0.53 |
skewer-zucchini-b1/processed_data |
3 | 3.09 |
skewer-zucchini-b2/UMI_iPhone |
464 | 2.53 |
skewer-zucchini-b2/coinft |
154 | 0.40 |
skewer-zucchini-b2/processed_data |
3 | 2.07 |
zucchini-wild-b0/UMI_iPhone |
278 | 1.62 |
zucchini-wild-b0/coinft |
92 | 0.25 |
zucchini-wild-b0/processed_data |
3 | 1.42 |
zucchini-wild-b1/UMI_iPhone |
716 | 3.98 |
zucchini-wild-b1/coinft |
238 | 0.63 |
zucchini-wild-b1/processed_data |
3 | 3.83 |
zucchini-wild-b2/UMI_iPhone |
302 | 1.59 |
zucchini-wild-b2/coinft |
98 | 0.26 |
zucchini-wild-b2/processed_data |
3 | 1.41 |
zucchini-wild-b3/UMI_iPhone |
1004 | 4.82 |
zucchini-wild-b3/coinft |
334 | 0.87 |
zucchini-wild-b3/processed_data |
3 | 4.65 |
zucchini-wild-b4/UMI_iPhone |
200 | 0.91 |
zucchini-wild-b4/coinft |
58 | 0.15 |
zucchini-wild-b4/processed_data |
3 | 0.75 |
zucchini-wild-b5/UMI_iPhone |
1322 | 6.43 |
zucchini-wild-b5/coinft |
440 | 1.15 |
zucchini-wild-b5/processed_data |
3 | 6.03 |
| total | 15901 | 218.1 |
License
MIT, the license of the project's GitHub repository (https://github.com/real-stanford/UMI-FT).
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