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<!DOCTYPE HTML>
<html>
<head>
<title>FastUMI</title>
<meta charset="utf-8" />
<meta name="viewport" content="width=device-width, initial-scale=0.9">
<link rel="stylesheet" href="assets/css/main.css" />
<link rel="icon" type="image/x-icon" href="images/icon.png">
<!-- Google tag (gtag.js) -->
<script async src="https://www.googletagmanager.com/gtag/js?id=G-1NLS9R0S0P"></script>
<script>
window.dataLayer = window.dataLayer || [];
function gtag() { dataLayer.push(arguments); }
gtag('js', new Date());
gtag('config', 'G-1NLS9R0S0P');
</script>
<meta property="og:url" content="https://fastumi.com/" />
<meta property="og:type" content="website" />
<meta property="og:title"
content="FastUMI: A Scalable and Hardware-Independent Universal Manipulation Interface and Dataset" />
<meta property="og:description"
content="We introduce FastUMI, an interface-mediated manipulation system comprising two key components: a handheld device operated by humans for data collection and a robot-mounted device used during policy inference. Our approach employs a decoupled design compatible with a wide range of grippers while maintaining consistent observation perspectives, allowing models trained on handheld-collected data to be directly applied to real robots. By directly obtaining the end-effector pose using existing commercial hardware products, we eliminate the need for complex SLAM deployment and calibration, streamlining data processing. FastUMI provides supporting software tools for efficient robot learning data collection and conversion, facilitating rapid, plug-and-play functionality. This system offers an efficient and user-friendly tool for robotic learning data acquisition." />
<style>
body {
color: #000000;
/* 设置全局字体颜色为黑色，可以根据需要更改颜色代码 */
}
h1,
h2 {
font-size: 2em;
/* 调小标题字体 */
margin-bottom: 0.5em;
}
p {
line-height: 1.6;
/* 增加行间距，提升可读性 */
font-size: 0.9em;
/* 调整段落文字大小 */
margin: 0.5em 0;
}
</style>
<!-- Font Awesome -->
<link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/font-awesome/6.0.0-beta3/css/all.min.css">
<!-- Bulma (CSS framework) -->
<link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/bulma/0.9.3/css/bulma.min.css">
</head>
<body id="top">
<!-- Main -->
<div id="main" style="padding-bottom: 1em;
padding-top: 1em;
width: 95%;
max-width: 70em;
margin-left: auto;
margin-right: auto;
font-size: 1.1em; /* 调整整体字体大小 */">
<section id="four">
<h1 style="text-align: center; margin-bottom: 0.1em; color: #8B0000; font-size: 350%; font-weight: bold;">
FastUMI
</h1>
<h2 style="text-align: center; white-space: nowrap; color: #000000; font-size: 168%; margin-bottom: 0.5em;">
A Scalable and Hardware-Independent Universal Manipulation Interface and Dataset
</h2>
<div class="column has-text-centered">
<!-- 让这一层统一做flex-wrap -->
<div class="publication-links" style="
display: flex;
flex-wrap: wrap;
gap: 10px;
justify-content: center;">
<!-- PDF Early Version
<a target="_blank" href="https://arxiv.org/abs/2409.19499"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="fas fa-file-pdf"></i>
</span>
<span>PDF (Early Version)</span>
</a> -->
<!-- PDF (TBA) -->
<a target="_blank" href="https://arxiv.org/abs/2409.19499" class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="fas fa-file-pdf"></i>
</span>
<span>Arxiv</span>
<!-- <span class="tag is-warning" style="margin-left:8px; font-size:0.7em;"> -->
</a>
<!-- Dataset -->
<a target="_blank" href="https://huggingface.co/datasets/IPEC-COMMUNITY/FastUMI-Data"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="fas fa-database"></i>
</span>
<span>Dataset</span>
</a>
<!-- Data Collection Code -->
<a target="_blank" href="https://github.com/YdingTeam/FastUMI_Data"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="fab fa-github"></i>
</span>
<span>Data Collection Code</span>
</a>
<!-- ACT/DP Code (TBA) -->
<a target="_blank" href="" class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="fab fa-github"></i>
</span>
<span>ACT / DP Code</span>
<span class="tag is-warning" style="margin-left:8px; font-size:0.7em;">TBA</span>
</a>
<!-- Hardware -->
<a target="_blank" href="https://fastumi.com/appendix"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="fas fa-table"></i>
</span>
<span>Hardware (3D Printing and Purchase)</span>
</a>
<!-- Hardware Installation Video -->
<a target="_blank" href="https://youtu.be/ngRPo_EiHmQ"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="fas fa-video"></i>
</span>
<span>Hardware Installation Instruction</span>
</a>
<!-- Data Collection Instruction -->
<a target="_blank" href="https://www.youtube.com/watch?v=PjwJ_dpnSCg"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="fas fa-video"></i>
</span>
<span>Data Collection Instruction</span>
</a>
<!-- WeChat -->
<a target="_blank" href="https://fastumi.com/wechat.jpg"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="fab fa-weixin"></i>
</span>
<span>WeChat</span>
</a>
<!-- Discord -->
<a target="_blank" href="https://discord.gg/3qtvj2FBTQ"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="fab fa-discord"></i>
</span>
<span>Discord</span>
</a>
<!-- FastUMI 2.0 -->
<a target="_blank" href="" class="button is-normal is-rounded is-dark">
<span class="icon">
<i class="fas fa-fire"></i>
</span>
<span>FastUMI 2.0</span>
<span class="tag is-warning" style="margin-left:8px; font-size:0.7em;">TBA</span>
</a>
</div>
</div>
<!-- ------------------- -->
<style>
/* 调整按钮的文字颜色 */
.button.is-dark {
color: white !important;
background-color: #333 !important;
border-color: #333 !important;
}
/* 调整按钮在悬停时的颜色 */
.button.is-dark:hover {
color: white !important;
background-color: #555 !important;
border-color: #555 !important;
}
/* 如果图标颜色显示不合适，可以调整 */
.button .icon {
color: white !important;
}
/* 让按钮排成两行 */
.publication-links {
text-align: center;
display: flex;
flex-wrap: wrap;
/* 让按钮自动换行 */
justify-content: center;
gap: 10px;
/* 控制按钮之间的间距 */
}
.link-block {
display: inline-block;
margin: 5px;
}
/* 使 ArXiv 按钮变窄 */
.button.is-dark span.icon+span {
margin-left: 5px;
/* 控制文字和图标之间的间距 */
}
.button.is-dark[style*="ArXiv"] {
padding-left: 10px;
padding-right: 10px;
}
.bibtex-box {
font-size: 13px;
/* 适当缩小字体，使其更紧凑 */
line-height: 1.2;
/* 减少行距 */
margin: 0 auto;
/* 居中，去掉多余的边距 */
padding: 8px 15px 8px 5px;
/* 调整左侧 padding 让文本更靠左 */
overflow-x: auto;
/* 允许水平滚动 */
background-color: #f8f8f8;
/* 代码块背景色，增加可读性 */
border-radius: 5px;
/* 让边框更圆润 */
border: 1px solid #ccc;
/* 让边框更细 */
white-space: pre-wrap;
/* 让长文本换行 */
word-wrap: break-word;
/* 处理长单词 */
max-width: 100%;
/* 让它不会超出父容器 */
box-shadow: 0px 2px 4px rgba(0, 0, 0, 0.1);
/* 轻微阴影，提升质感 */
text-align: left;
/* 确保文本左对齐 */
}
</style>
<br>
<!-- ------------------- -->
<hr style="margin-top: 0em;">
<h3 style="margin-bottom: 0.5em; color: #1E3A8A;">Physical prototypes of FastUMI system</h3>
<span class="figure" style="margin-top: 1em; margin-bottom: 0;">
<img src="images/fastumi.jpg" width="100%" style="margin-top: 1em;" alt="" />
</span>
<br>
<br>
<!-- ------------------- -->
<hr style="margin-top: 0em;">
<h3 style="margin-bottom: 0.5em; color: #1E3A8A; font-size: 130%;">Project Overview</h3>
<p class="paper-paragraph" align="justify" style="font-size: 100%;">
Real-world manipulation data involving robotic arms is crucial for developing generalist action
policies, yet such data remains scarce since existing data collection methods are hindered by high
costs, hardware dependencies, and complex setup requirements. In this work, we introduce <em
style="font-weight: bold;">FastUMI</em>, a substantial redesign of the Universal Manipulation
Interface (UMI) system that addresses these challenges by enabling rapid deployment, simplifying
hardware–software integration, and delivering robust performance in real-world data acquisition.
</p>
<br>
<!-- ------------------- -->
<hr style="margin-top: 0em;">
<h3 style="margin-bottom: 0.5em; color: #1E3A8A; font-size: 130%;">Contributions</h3>
<ul style="list-style-type: disc; margin-top: 0; padding-left: 1.5em; color: #333; font-size: 100%;">
<li style="margin-bottom: 0.5em;">
1) FastUMI adopts a decoupled hardware design and incorporates extensive mechanical modifications,
removing dependencies on specialized robotic components while preserving consistent observation
perspectives.
</li>
<li style="margin-bottom: 0.5em;">
2) FastUMI refines the algorithmic pipeline by replacing complex Visual-Inertial Odometry (VIO)
implementations with an off-the-shelf tracking module, significantly reducing deployment complexity
while maintaining accuracy.
</li>
<li style="margin-bottom: 0.5em;">
3) FastUMI includes an ecosystem for data collection, verification, and integration with both
established and newly developed imitation learning algorithms, accelerating policy learning
advancement.
</li>
<li style="margin-bottom: 0.5em;">
4) We have open-sourced a high-quality dataset of over 10,000 real-world demonstration trajectories
spanning 22 everyday tasks, forming one of the most diverse UMI-like datasets to date.
</li>
</ul>
<br>
<!-- ------------------- -->
<hr style="margin-top: 0em;">
<h3 id="demos-section" style="margin-bottom: 0.5em; color: #1E3A8A; font-size: 130%;">Dataset Visualization
</h3>
We have collected 10,000 data samples across 20 tasks and have uploaded the dataset to Hugging Face.
<iframe src="visualizer.html" width="100%" height="500px" style="border: none;"></iframe>
<!-- ------------------- -->
<hr style="margin-top: 0em;">
<h3 id="demos-section" style="margin-bottom: 0.5em; color: #1E3A8A; font-size: 130%;">Original ACT Demos
</h3>
<p class="paper-paragraph" align="justify">
A naive ACT algorithm is employed here to demonstrate the effectiveness of the 10K training samples we
collected, as well as the overall performance of our data collection system. </a>
<p style="color:#8B0000;">Note: The performance of the robot in the video is related to our adopted ACT
algorithm, and has no much connection to our FastUMI system.</p>
<div class="video-container" style="margin-top: 1em;">
<video width="48%" controls>
<source src="videos/original_ACT/original_ACT_unplug_charge.mp4" type="video/mp4">
</video>
<video width="48%" controls>
<source src="videos/original_ACT/original_ACT_close_ricecooker.mp4" type="video/mp4">
Your browser does not support the video tag.
</video>
</div>
<br>
<div class="video-container" style="margin-top: 1em;">
<video width="48%" controls>
<source src="videos/original_ACT/original_ACT_fold_towel.mp4" type="video/mp4">
Your browser does not support the video tag.
</video>
<video width="48%" controls>
<source src="videos/original_ACT/original_ACT_grasp_cola.mp4" type="video/mp4">
Your browser does not support the video tag.
</video>
</div>
<br>
<div class="video-container" style="margin-top: 1em;">
<video width="48%" controls>
<source src="videos/original_ACT/original_ACT_move_trash.mp4" type="video/mp4">
Your browser does not support the video tag.
</video>
<video width="48%" controls>
<source src="videos/original_ACT/original_ACT_open_drawer.mp4" type="video/mp4">
Your browser does not support the video tag.
</video>
</div>
<br>
<div class="video-container" style="margin-top: 1em;">
<video width="48%" controls>
<source src="videos/original_ACT/original_ACT_open_fridge.mp4" type="video/mp4">
Your browser does not support the video tag.
</video>
<video width="48%" controls>
<source src="videos/original_ACT/original_ACT_open_roaster.mp4" type="video/mp4">
Your browser does not support the video tag.
</video>
</div>
<div class="video-container" style="margin-top: 1em;">
<video width="48%" controls>
<source src="videos/original_ACT/original_ACT_open_suitcase.mp4" type="video/mp4">
Your browser does not support the video tag.
</video>
<video width="48%" controls>
<source src="videos/original_ACT/original_ACT_pick_coke.mp4" type="video/mp4">
Your browser does not support the video tag.
</video>
</div>
<div class="video-container" style="margin-top: 1em;">
<video width="48%" controls>
<source src="videos/original_ACT/original_ACT_pick_place_bear.mp4" type="video/mp4">
Your browser does not support the video tag.
</video>
<video width="48%" controls>
<source src="videos/original_ACT/original_ACT_pick_place_cup.mp4" type="video/mp4">
Your browser does not support the video tag.
</video>
</div>
<div class="video-container" style="margin-top: 1em;">
<video width="48%" controls>
<source src="videos/original_ACT/original_ACT_pour_and_place_coke.mp4" type="video/mp4">
Your browser does not support the video tag.
</video>
<video width="48%" controls>
<source src="videos/original_ACT/original_ACT_beef_covering.mp4" type="video/mp4">
Your browser does not support the video tag.
</video>
</div>
<br>
<!-- ------------------- -->
<hr style="margin-top: 0em;">
<h3 id="demos-section" style="margin-bottom: 0.5em; color: #1E3A8A; font-size: 130%;">Original Diffusion
Policy Demos</h3>
<p class="paper-paragraph" align="justify">
A naive DP algorithm is employed here to demonstrate the effectiveness of the 10K training samples we
collected, as well as the overall performance of our data collection system. </a>
<div class="video-container" style="margin-top: 1em;">
<video width="48%" controls>
<source src="videos/original_DP/original_DP_grasp_cola.mp4" type="video/mp4">
Your browser does not support the video tag.
</video>
<video width="48%" controls>
<source src="videos/original_DP/original_DP_unplug_charge.mp4" type="video/mp4">
Your browser does not support the video tag.
</video>
</div>
<div class="video-container" style="margin-top: 1em;">
<video width="48%" controls>
<source src="videos/original_DP/original_DP_pick_pen.mp4" type="video/mp4">
Your browser does not support the video tag.
</video>
<video width="48%" controls>
<source src="videos/original_DP/original_DP_move_trash.mp4" type="video/mp4">
Your browser does not support the video tag.
</video>
</div>
<br>
<!-- ------------------- -->
<hr style="margin-top: 0em;">
<h3 id="demos-section" style="margin-bottom: 0.5em; color: #1E3A8A; font-size: 130%;">Depth-Enhanced
Diffusion Policy Demos</h3>
<p class="paper-paragraph" align="justify">
An Depth-Enhanced DP algorithm is employed here to demonstrate the effectiveness of the 10K training
samples we
collected, as well as the overall performance of our data collection system. </a>
<div class="video-container" style="margin-top: 1em;">
<video width="90%" controls>
<source src="videos/depth-enhanced_DP/depth-enhanced_DP_open_ricecooker.mp4" type="video/mp4">
Your browser does not support the video tag.
</video>
</div>
<br>
<br>
<hr style="margin-top: 0em;">
<h3 style="margin-bottom: 0.5em; color: #1E3A8A; font-size: 130%;">RealSense T265 Trajectory Accuracy</h3>
<p class="paper-paragraph" align="justify"></p>
We evaluated the <i>RealSense T265</i> trajectory accuracy compared to our motion capture (MoCap) ground
truth data.
<span class="figure" style="margin-top: 0.1em; margin-bottom: 0; display: block; text-align: center;">
<img src="images/mocap.jpg" width="70%" style="margin-top: 0.5em;" alt="" />
<div style="margin-bottom: 1.5em; text-align: center;">
</div>
</span>
<!-- Here is the table insertion -->
<div class="video-container" style="text-align: center; margin-top: 1em;">
<video width="70%" controls style="display: inline-block;">
<source src="videos/mocap_tasks/mocap_pick_cup.mp4" type="video/mp4">
</video>
</div>
<table style="width:70%; border-collapse: collapse; margin: 1em auto;">
<caption style="font-size: 1.2em; color: black; margin-bottom: 1em;">
Trajectory Accuracy Statistics in '<span style="color: #8B0000;">Pick Cup</span>' Task
</caption>
<thead>
<tr>
<th
style="border: 1px solid #ddd; padding: 4px; text-align: center; background-color: #f2f2f2;">
Trajectory ID</th>
<th
style="border: 1px solid #ddd; padding: 4px; text-align: center; background-color: #f2f2f2;">
Max Error (mm)</th>
<th
style="border: 1px solid #ddd; padding: 4px; text-align: center; background-color: #f2f2f2;">
Mean Error (mm)</th>
<th
style="border: 1px solid #ddd; padding: 4px; text-align: center; background-color: #f2f2f2;">
Min Error (mm)</th>
</tr>
</thead>
<tbody>
<tr>
<td style="border: 1px solid #ddd; padding: 4px; text-align: center;">Traj 1</td>
<td style="border: 1px solid #ddd; padding: 4px; text-align: center;">15.669</td>
<td style="border: 1px solid #ddd; padding: 4px; text-align: center;">9.710</td>
<td style="border: 1px solid #ddd; padding: 4px; text-align: center;">1.968</td>
</tr>
<tr>
<td style="border: 1px solid #ddd; padding: 4px; text-align: center;">Traj 2</td>
<td style="border: 1px solid #ddd; padding: 4px; text-align: center;">20.552</td>
<td style="border: 1px solid #ddd; padding: 4px; text-align: center;">10.198</td>
<td style="border: 1px solid #ddd; padding: 4px; text-align: center;">1.556</td>
</tr>
<tr>
<td style="border: 1px solid #ddd; padding: 4px; text-align: center;">Traj 3</td>
<td style="border: 1px solid #ddd; padding: 4px; text-align: center;">19.803</td>
<td style="border: 1px solid #ddd; padding: 4px; text-align: center;">12.235</td>
<td style="border: 1px solid #ddd; padding: 4px; text-align: center;">5.334</td>
</tr>
<tr>
<td style="border: 1px solid #ddd; padding: 4px; text-align: center;">Traj 4</td>
<td style="border: 1px solid #ddd; padding: 4px; text-align: center;">18.204</td>
<td style="border: 1px solid #ddd; padding: 4px; text-align: center;">10.770</td>
<td style="border: 1px solid #ddd; padding: 4px; text-align: center;">2.328</td>
</tr>
<tr>
<td style="border: 1px solid #ddd; padding: 4px; text-align: center;">Traj 5</td>
<td style="border: 1px solid #ddd; padding: 4px; text-align: center;">21.698</td>
<td style="border: 1px solid #ddd; padding: 4px; text-align: center;">11.112</td>
<td style="border: 1px solid #ddd; padding: 4px; text-align: center;">5.359</td>
</tr>
<tr>
<td style="border: 1px solid #ddd; padding: 4px; text-align: center;">Traj 6</td>
<td style="border: 1px solid #ddd; padding: 4px; text-align: center;">21.998</td>
<td style="border: 1px solid #ddd; padding: 4px; text-align: center;">12.472</td>
<td style="border: 1px solid #ddd; padding: 4px; text-align: center;">4.973</td>
</tr>
<tr>
<td style="border: 1px solid #ddd; padding: 4px; text-align: center;">Traj 7</td>
<td style="border: 1px solid #ddd; padding: 4px; text-align: center;">17.925</td>
<td style="border: 1px solid #ddd; padding: 4px; text-align: center;">11.457</td>
<td style="border: 1px solid #ddd; padding: 4px; text-align: center;">4.851</td>
</tr>
<tr>
<td style="border: 1px solid #ddd; padding: 4px; text-align: center;">Traj 8</td>
<td style="border: 1px solid #ddd; padding: 4px; text-align: center;">20.392</td>
<td style="border: 1px solid #ddd; padding: 4px; text-align: center;">10.606</td>
<td style="border: 1px solid #ddd; padding: 4px; text-align: center;">1.943</td>
</tr>
<tr>
<td style="border: 1px solid #ddd; padding: 4px; text-align: center;">Traj 9</td>
<td style="border: 1px solid #ddd; padding: 4px; text-align: center;">14.394</td>
<td style="border: 1px solid #ddd; padding: 4px; text-align: center;"><span
style="color: #8B0000;">6.654</span></td>
<td style="border: 1px solid #ddd; padding: 4px; text-align: center;">0.798</td>
</tr>
<tr>
<td style="border: 1px solid #ddd; padding: 4px; text-align: center;">Traj 10</td>
<td style="border: 1px solid #ddd; padding: 4px; text-align: center;">15.669</td>
<td style="border: 1px solid #ddd; padding: 4px; text-align: center;">9.710</td>
<td style="border: 1px solid #ddd; padding: 4px; text-align: center;">1.968</td>
</tr>
</tbody>
</table>
<br>
<!-- ------------------- -->
<!-- <hr style="margin-top: 0em;">
<h3 style="margin-bottom: 0.5em; color: #1E3A8A; font-size: 130%;">Newly Designed Components</h3>
<span class="figure" style="margin-top: 0.1em; margin-bottom: 0;">
<img src="images/componments.jpg" width="100%" margin-top="0.5em" alt="" />
<div style="margin-bottom: 2.5em; text-align: center;">Components of <strong
style="color: #8B0000;">Newly Designed</strong> FastUMI Prototype Device</div>
</span> -->
<!-- ------------------- -->
<hr style="margin-top: 0em;">
<h3 style="margin-bottom: 0.5em; color: #1E3A8A; font-size: 130%;">FastUMI 3D Model Display</h3>
<span class="link-block">
<a target="_blank" href="https://fastumi.com/appendix"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="fas fa-table"></i>
</span>
<span>Hardware (3D Printing and Purchase)</span>
</a>
</span>
<br>
<br>
<div style="text-align: center;">
<!-- Prototype Embed -->
<iframe
src="https://sjtu143.autodesk360.com/shares/public/SH286ddQT78850c0d8a445593f7658437eca?mode=embed"
width="1050" height="600" allowfullscreen="true" webkitallowfullscreen="true"
mozallowfullscreen="true" frameborder="0"></iframe>
<p>Prototype</p>
<!-- 3x2 Grid Embed -->
<div style="display: flex; justify-content: center; flex-wrap: wrap; max-width: 1300px; margin: auto;">
<div style="flex: 1 1 calc(40% - 20px); margin: 10px;">
<iframe
src="https://foxmail1938.autodesk360.com/shares/public/SH30dd5QT870c25f12fce875e4c904f48c1b?mode=embed"
width="100%" height="480" allowfullscreen="true" webkitallowfullscreen="true"
mozallowfullscreen="true" frameborder="0"></iframe>
<p>Top Cover</p>
</div>
<div style="flex: 1 1 calc(40% - 20px); margin: 10px;">
<iframe
src="https://foxmail1938.autodesk360.com/shares/public/SH30dd5QT870c25f12fc71045e393dc35721?mode=embed"
width="100%" height="480" allowfullscreen="true" webkitallowfullscreen="true"
mozallowfullscreen="true" frameborder="0"></iframe>
<p>Gopro Extension Arm</p>
</div>
<div style="flex: 1 1 calc(40% - 20px); margin: 10px;">
<iframe
src="https://foxmail1938.autodesk360.com/shares/public/SH30dd5QT870c25f12fc705cf9522bb39d1d?mode=embed"
width="100%" height="480" allowfullscreen="true" webkitallowfullscreen="true"
mozallowfullscreen="true" frameborder="0"></iframe>
<p>Fingertip for XArm</p>
</div>
<div style="flex: 1 1 calc(40% - 20px); margin: 10px;">
<iframe
src="https://foxmail1938.autodesk360.com/shares/public/SH30dd5QT870c25f12fca324a8f7f5da9e0e?mode=embed"
width="100%" height="480" allowfullscreen="true" webkitallowfullscreen="true"
mozallowfullscreen="true" frameborder="0"></iframe>
<p>Gopro Robotic Mount</p>
</div>
<div style="flex: 1 1 calc(40% - 20px); margin: 10px;">
<iframe
src="https://sjtu143.autodesk360.com/shares/public/SH286ddQT78850c0d8a421fe937ecff3875d?mode=embed"
width="100%" height="480" allowfullscreen="true" webkitallowfullscreen="true"
mozallowfullscreen="true" frameborder="0"></iframe>
<p>Mask Piece</p>
</div>
<div style="flex: 1 1 calc(40% - 20px); margin: 10px;">
<iframe
src="https://foxmail1938.autodesk360.com/shares/public/SH30dd5QT870c25f12fc90660c029f41ec29?mode=embed"
width="100%" height="480" allowfullscreen="true" webkitallowfullscreen="true"
mozallowfullscreen="true" frameborder="0"></iframe>
<p>T265 Mount V2</p>
</div>
</div>
</div>
<br>
<hr style="margin-top: 0em;">
<!-- Updates -->
<h3 id="demos-section" style="margin-bottom: 0.5em; color: #1E3A8A; font-size: 130%;">FastUMI 2.0 Updates
</h3>
<p class="paper-paragraph" align="justify">
In FastUMI 2.0, we have integrated a tactile module into the fingertip. We selected the 3D-ViTac
solution (<a href="https://arxiv.org/abs/2410.24091"
target="_blank">https://arxiv.org/abs/2410.24091</a>) for several reasons, such as the convenience
of cutting it into various sizes and its ability to handle severe deformation of the fingertip. Please
note that the original 3D-ViTac cannot be used directly, so we have implemented extensive optimizations.
Additionally, to address the discontinuation of the T265, we have adopted the RoboBaton Mini as a
replacement (<a href="https://www.hessian-matrix.com/"
target="_blank">https://www.hessian-matrix.com/</a>). We have successfully completed the
manufacturing of the prototype.
</p>
</p>
</p>
<div class="video-container" style="margin-top: 1em;">
<video width="48%" controls>
<source src="fastumi2.0/videos/fastumi2.0_tactile.mp4" type="video/mp4">
</video>
<!-- <video width="48%" controls>
<source src="videos/close_ricecooker.mp4" type="video/mp4">
Your browser does not support the video tag.
</video> -->
<!-- Replaced Video with Image -->
<img src="fastumi2.0/images/robobaton_mini.png" width="35%"
style="object-fit: cover; border-radius: 8px;">
</div>
<br>
<!-- <div class="video-container" style="margin-top: 1em;">
<video width="48%" controls>
<source src="videos/fold_towel.mp4" type="video/mp4">
Your browser does not support the video tag.
</video>
<video width="48%" controls>
<source src="videos/grasp_cola.mp4" type="video/mp4">
Your browser does not support the video tag.
</video>
</div>
<br> -->
<hr style="margin-top: 0em;">
<!-- 项目领导 -->
<h4 style="margin-bottom: 0.5em; color: #1E3A8A; font-size: 120%;">Project Leader</h4>
<div style="display: flex; justify-content: flex-start; flex-wrap: wrap; margin-bottom: 1em;">
<!-- Yan Ding -->
<div style="display: flex; align-items: center; margin-right: 15px; margin-bottom: 1em;">
<div
style="width: 100px; height: 100px; margin-right: 10px; overflow: hidden; border-radius: 50%; display: flex; justify-content: center; align-items: center;">
<img src="images/yanding.jpg" alt="Dr. Yan Ding"
style="width: 100%; height: 100%; object-fit: cover;">
</div>
<div>
<p><a href="https://yding25.com/" style="color: #2F855A;">Dr. Yan Ding</a></p>
<p><span style="color:rgb(62, 61, 61);">yding25@binghamton.edu</span></p>
</div>
</div>
<!-- Bin Zhao -->
<div style="display: flex; align-items: center; margin-right: 15px; margin-bottom: 1em;">
<div
style="width: 100px; height: 100px; margin-right: 10px; overflow: hidden; border-radius: 50%; display: flex; justify-content: center; align-items: center;">
<img src="images/binzhao.jpg" alt="Dr. Bin Zhao"
style="width: 100%; height: 100%; object-fit: cover;">
</div>
<div>
<p><a href="https://iopen.nwpu.edu.cn/info/1347/2105.htm" style="color: #2F855A;">Dr. Bin
Zhao</a></p>
<p><span style="color:rgb(62, 61, 61);">bin@nwpu.edu.cn</span></p>
</div>
</div>
</div>
<br>
<!-- 主要贡献者 -->
<h4 style="margin-bottom: 0.5em; color: #1E3A8A; font-size: 120%;">Main Contributors</h4>
<div style="display: flex; flex-wrap: wrap; gap: 20px; margin-bottom: 1em;">
<!-- Zhaxizhuoma -->
<div style="display: flex; align-items: center; width: calc(33.33% - 20px);">
<div
style="width: 100px; height: 100px; margin-right: 15px; overflow: hidden; border-radius: 50%; display: flex; justify-content: center; align-items: center;">
<img src="images/zhaxizhuoma.jpg" alt="Zhaxizhuoma"
style="width: 100%; height: 100%; object-fit: cover;">
</div>
<div>
<p><a href="https://zxzm-zak.github.io/" style="color: #2F855A;">Zhaxizhuoma</a></p>
<p>Phd Candidate</p>
</div>
</div>
<!-- Kehui Liu -->
<div style="display: flex; align-items: center; width: calc(33.33% - 20px);">
<div
style="width: 100px; height: 100px; margin-right: 15px; overflow: hidden; border-radius: 50%; display: flex; justify-content: center; align-items: center;">
<img src="images/liukehui.jpg" alt="Kehui Liu"
style="width: 100%; height: 100%; object-fit: cover;">
</div>
<div>
<p><a href="https://github.com/MrKeee" style="color: #2F855A;">Kehui Liu</a></p>
<p>Phd Candidate</p>
</div>
</div>
<!-- Jeff Guan -->
<div style="display: flex; align-items: center; width: calc(33.33% - 20px);">
<div
style="width: 100px; height: 100px; margin-right: 15px; overflow: hidden; border-radius: 50%; display: flex; justify-content: center; align-items: center;">
<img src="images/jeffguan.png" alt="Jeff Guan"
style="width: 100%; height: 100%; object-fit: cover;">
</div>
<div>
<p><a href="https://fastumi.com/"
style="color: #2F855A;">Jeff Guan</a></p>
<p>Intern</p>
</div>
</div>
</div>
<div style="display: flex; flex-wrap: wrap; gap: 20px; margin-bottom: 1em;">
<!-- Zhongjie Jia -->
<div style="display: flex; align-items: center; width: calc(33.33% - 20px);">
<div
style="width: 100px; height: 100px; margin-right: 15px; overflow: hidden; border-radius: 50%; display: flex; justify-content: center; align-items: center;">
<img src="images/zhongjiejia.jpg" alt="Zhongjie Jia"
style="width: 100%; height: 100%; object-fit: cover;">
</div>
<div>
<p><a href="" style="color: #2F855A;">Zhongjie Jia</a></p>
<p>Phd Candidate</p>
</div>
</div>
<!-- Ziniu Wu -->
<div style="display: flex; align-items: center; width: calc(33.33% - 20px);">
<div
style="width: 100px; height: 100px; margin-right: 15px; overflow: hidden; border-radius: 50%; display: flex; justify-content: center; align-items: center;">
<img src="images/ziniuwu.jpg" alt="Ziniu Wu"
style="width: 100%; height: 100%; object-fit: cover;">
</div>
<div>
<p><a href="https://star-uu-wang.github.io/" style="color: #2F855A;">Ziniu Wu</a></p>
<p>Intern</p>
</div>
</div>
<!-- Xin Liu -->
<div style="display: flex; align-items: center; width: calc(33.33% - 20px);">
<div
style="width: 100px; height: 100px; margin-right: 15px; overflow: hidden; border-radius: 50%; display: flex; justify-content: center; align-items: center;">
<img src="images/xinliu.jpg" alt="Xin Liu"
style="width: 100%; height: 100%; object-fit: cover;">
</div>
<div>
<p><a href="" style="color: #2F855A;">Xin Liu</a></p>
<p>Intern</p>
</div>
</div>
</div>
<div style="display: flex; flex-wrap: wrap; gap: 20px; margin-bottom: 1em;">
<!-- Tianyu Wang -->
<div style="display: flex; align-items: center; width: calc(33.33% - 20px);">
<div
style="width: 100px; height: 100px; margin-right: 15px; overflow: hidden; border-radius: 50%; display: flex; justify-content: center; align-items: center;">
<img src="images/tianyuwang.jpg" alt="Tianyu Wang"
style="width: 100%; height: 100%; object-fit: cover;">
</div>
<div>
<p><a href="https://star-uu-wang.github.io/" style="color: #2F855A;">Tianyu Wang</a></p>
<p>Intern</p>
</div>
</div>
<!-- Shuai Liang -->
<div style="display: flex; align-items: center; width: calc(33.33% - 20px);">
<div
style="width: 100px; height: 100px; margin-right: 15px; overflow: hidden; border-radius: 50%; display: flex; justify-content: center; align-items: center;">
<img src="images/shuailiang.jpg" alt="Shuai Liang"
style="width: 100%; height: 100%; object-fit: cover;">
</div>
<div>
<p><a href="https://robot-dreamer.github.io/CoCube" style="color: #2F855A;">Shuai Liang</a></p>
<p>Phd Candidate</p>
</div>
</div>
<!-- Pengan Chen -->
<div style="display: flex; align-items: center; width: calc(33.33% - 20px);">
<div
style="width: 100px; height: 100px; margin-right: 15px; overflow: hidden; border-radius: 50%; display: flex; justify-content: center; align-items: center;">
<img src="images/penganchen.jpg" alt="Pingrui Zhang"
style="width: 100%; height: 100%; object-fit: cover;">
</div>
<div>
<p><a href="https://github.com/cpa2001" style="color: #2F855A;">Pengan Chen</a></p>
<p>Intern</p>
</div>
</div>
</div>
<div style="display: flex; flex-wrap: wrap; gap: 20px; margin-bottom: 1em;">
<!-- Pingrui Zhang -->
<div style="display: flex; align-items: center; width: calc(33.33% - 20px);">
<div
style="width: 100px; height: 100px; margin-right: 15px; overflow: hidden; border-radius: 50%; display: flex; justify-content: center; align-items: center;">
<img src="images/pingruizhang.jpg" alt="Pingrui Zhang"
style="width: 100%; height: 100%; object-fit: cover;">
</div>
<div>
<p><a href="" style="color: #2F855A;">Pingrui Zhang</a></p>
<p>Phd Candidate</p>
</div>
</div>
</div>
<!-- 继续按照相同的结构添加其他参与者 -->
</section>
</div>
<section class="section" id="BibTeX">
<div class="container is-max-widescreen content">
<h2 class="title">BibTeX</h2>
<!-- <pre class="bibtex-box">@article{liu2024fastumi,
title={FastUMI: A Scalable and Hardware-Independent Universal Manipulation Interface with Dataset},
author={Liu, Kehui and Guan, Jeff and Jia, Zhongjie and Wu, Ziniu and Liu, Xin and Wang, Tianyu and Liang, Shuai and Chen, Pengan and Zhang, Pingrui and Song, Haoming and others},
journal={arXiv e-prints},
pages={arXiv--2409},
year={2024}
} -->
<pre class="bibtex-box">@article{zhaxizhuoma2025fastumiscalablehardwareindependentuniversal,
title={FastUMI: A Scalable and Hardware-Independent Universal Manipulation Interface with Dataset},
author={Zhaxizhuoma and Kehui Liu and Chuyue Guan and Zhongjie Jia and Ziniu Wu and Xin Liu and Tianyu Wang and Shuai Liang and Pengan Chen and Pingrui Zhang and Haoming Song and Delin Qu and Dong Wang and Zhigang Wang and Nieqing Cao and Yan Ding and Bin Zhao and Xuelong Li},
year={2025},
eprint={2409.19499},
archivePrefix={arXiv},
primaryClass={cs.RO},
url={https://arxiv.org/abs/2409.19499},
}
</pre>
</div>
</section>
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