UMI-Benchmark-v1

UMI-Benchmark-v1 contains 20,000 real-world robot manipulation sessions across 10 tasks: 4 single-arm tasks and 6 dual-arm tasks.

Dataset Summary

Category	Tasks	Sessions
Single-arm	4	9,988
Dual-arm	6	10,012
Total	10	20,000

Tasks

ID	Folder	Type	Task	Sessions
T1	single_arm_task1	Single-arm	Stack Baskets	3,000
T2	single_arm_task2	Single-arm	Trash Bag	1,991
T3	single_arm_task3	Single-arm	Stamp Ink	2,996
T4	single_arm_task4	Single-arm	Remote Storage	2,001
T5	dual_arm_task1	Dual-arm	Pour Beans	1,600
T6	dual_arm_task2	Dual-arm	Pack & Carry	1,600
T7	dual_arm_task3	Dual-arm	Turntable Pick	2,012
T8	dual_arm_task4	Dual-arm	Mahjong Sort	1,600
T9	dual_arm_task5	Dual-arm	Kitchen Rearrange	1,600
T10	dual_arm_task6	Dual-arm	Pants Folding	1,600

Scenario Counts

TASK 01 Stack Baskets / single_arm_task1

Scenario	Sessions
Blue Baskets	985
Red Baskets	1,000
Orange Baskets	1,015
Total	3,000

TASK 02 Trash Bag / single_arm_task2

Scenario	Sessions
White Garbage Bag	486
Purple Garbage Bag	497
Green Garbage Bag	500
Blue Garbage Bag	508
Total	1,991

TASK 03 Stamp Ink / single_arm_task3

Scenario	Sessions
Black Ink + Gray Paper	482
Black Ink + Yellow Paper	492
Black Ink + White Paper	499
Red Ink + Gray Paper	500
Red Ink + Yellow Paper	505
Red Ink + White Paper	518
Total	2,996

TASK 04 Remote Storage / single_arm_task4

Scenario	Sessions
Remote B + Holder B	489
Remote A + Holder B	500
Remote B + Holder A	501
Remote A + Holder A	511
Total	2,001

TASK 05 Pour Beans / dual_arm_task1

Scenario	Sessions
Red Beans Scene B	395
Yellow Beans Scene B	400
Yellow Beans Scene A	400
Red Beans Scene A	405
Total	1,600

TASK 06 Pack & Carry / dual_arm_task2

Scenario	Sessions
Purple Ball Scene B	387
Green Ball Scene B	397
Green Ball Scene A	403
Purple Ball Scene A	413
Total	1,600

TASK 07 Turntable Pick / dual_arm_task3

Scenario	Sessions
Yellow Can Scene B	495
Green Can Scene B	500
Green Can Scene A	503
Yellow Can Scene A	514
Total	2,012

TASK 08 Mahjong Sort / dual_arm_task4

Scenario	Sessions
Mahjong Combination 2 Scene B	389
Mahjong Combination 1 Scene B	398
Mahjong Combination 1 Scene A	402
Mahjong Combination 2 Scene A	411
Total	1,600

TASK 09 Kitchen Rearrange / dual_arm_task5

Scenario	Sessions
Pink Cup-Plate Set Scene B	393
Green Cup-Plate Set Scene B	400
Pink Cup-Plate Set Scene A	400
Green Cup-Plate Set Scene A	407
Total	1,600

TASK 10 Pants Folding / dual_arm_task6

Scenario	Sessions
Green Pants Scene B	391
Blue Pants Scene B	399
Blue Pants Scene A	401
Green Pants Scene A	409
Total	1,600

File Layout

Data is stored as tar shards under data/.

data/
  single_arm_task1/
  single_arm_task2/
  single_arm_task3/
  single_arm_task4/
  dual_arm_task1/
  dual_arm_task2/
  dual_arm_task3/
  dual_arm_task4/
  dual_arm_task5/
  dual_arm_task6/

Most tasks are sharded by scenario. For example:

data/dual_arm_task2/T6_Green_Ball_Scene_A/T6_Green_Ball_Scene_A_chunk_000.tar
data/dual_arm_task2/T6_Green_Ball_Scene_A/T6_Green_Ball_Scene_A_chunk_001.tar

dual_arm_task1 is the only exception in this release. It is stored as 16 sequential session shards:

data/dual_arm_task1/session_chunk_000.tar
...
data/dual_arm_task1/session_chunk_015.tar

The scenario counts for dual_arm_task1 are listed above.

Metadata

Metadata files are lightweight index and verification files for the tar shards. They are not the robot trajectory data itself.

metadata/<task_name>/
  scene_mapping.csv
  chunk_manifest.csv
  all_sessions.csv
  sha256.txt
  sizes.txt
  sizes_bytes.txt
  lists/

The metadata files provide:

File	Description
scene_mapping.csv	Scenario names, session counts, and corresponding data subdirectories.
chunk_manifest.csv	Tar shard paths, session counts, and first/last sessions in each shard.
all_sessions.csv	Per-session scenario membership and relative source paths, where available.
sha256.txt	SHA-256 checksums for tar shards.
sizes.txt	Human-readable tar shard sizes.
sizes_bytes.txt	Tar shard sizes in bytes.
lists/	Session path lists used to build each tar shard.

For dual_arm_task1, metadata follows the sequential shard layout:

metadata/dual_arm_task1/
  sha256.txt
  sizes.txt
  sizes_bytes.txt

Notes

Each tar shard contains complete session folders. Use the checksum files after download to verify that shards were transferred correctly.