FastUMI

A Scalable and Hardware-Independent Universal Manipulation Interface and Dataset



Physical prototypes of FastUMI system




Project Overview

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 FastUMI, 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.



Contributions



Dataset Visualization

We have collected 10,000 data samples across 20 tasks and have uploaded the dataset to Hugging Face.

Original ACT Demos

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.  

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.






Original Diffusion Policy Demos

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.  



Depth-Enhanced Diffusion Policy Demos

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.  




RealSense T265 Trajectory Accuracy

We evaluated the RealSense T265 trajectory accuracy compared to our motion capture (MoCap) ground truth data.
Trajectory Accuracy Statistics in 'Pick Cup' Task
Trajectory ID Max Error (mm) Mean Error (mm) Min Error (mm)
Traj 1 15.669 9.710 1.968
Traj 2 20.552 10.198 1.556
Traj 3 19.803 12.235 5.334
Traj 4 18.204 10.770 2.328
Traj 5 21.698 11.112 5.359
Traj 6 21.998 12.472 4.973
Traj 7 17.925 11.457 4.851
Traj 8 20.392 10.606 1.943
Traj 9 14.394 6.654 0.798
Traj 10 15.669 9.710 1.968


FastUMI 3D Model Display

Hardware (3D Printing and Purchase)

Prototype

Top Cover

Gopro Extension Arm

Fingertip for XArm

Gopro Robotic Mount

Mask Piece

T265 Mount V2



FastUMI 2.0 Updates

In FastUMI 2.0, we have integrated a tactile module into the fingertip. We selected the 3D-ViTac solution (https://arxiv.org/abs/2410.24091) 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 (https://www.hessian-matrix.com/). We have successfully completed the manufacturing of the prototype.



Project Leader

Dr. Yan Ding

Dr. Yan Ding

Researcher at Shanghai AI Lab

yding25@binghamton.edu

Dr. Bin Zhao

Dr. Bin Zhao

Research Scientist at Shanghai AI Lab

bin@nwpu.edu.cn


Main Contributors

Zhaxizhuoma

Zhaxizhuoma

Intern

Kehui Liu

Kehui Liu

Phd Candidate

Chuyue Guan

Chuyue Guan

Intern

Zhongjie Jia

Zhongjie Jia

Phd Candidate

Ziniu Wu

Ziniu Wu

Intern

Xin Liu

Xin Liu

Intern

Tianyu Wang

Tianyu Wang

Intern

Shuai Liang

Shuai Liang

Phd Candidate

Pingrui Zhang

Pengan Chen

Intern

Pingrui Zhang

Pingrui Zhang

Phd Candidate

BibTeX

@misc{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}, 
}