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Human demonstrations · Stanford / Columbia / Toyota Research Institute

UMI: cup in the wild

Hand-held gripper demonstrations with a processed cup-arrangement dataset.

Get datasetOfficial source

What is included?

Data type
Human demonstrations
Tasks
Manipulation · Human-to-robot transfer
Modalities
RGB · Gripper trajectory
Embodiment
Human-operated UMI gripper

Reported scale

Cup-arrangement demonstrations across 30 locations

Location count from the official README; this is not a trajectory count. The processed cup dataset is linked separately from example collection sessions.

Access & license

Follow the original publisher’s dataset download and loading instructions.

Dataset license not confirmed in this listing

Before you use this dataset

The collection uses a hand-held tool, not a robot arm. The repository MIT license is not assumed to establish separate recording rights or dataset terms.

Publisher sources checked 2026-10-05. Listing review checks the documentation, not downloaded data quality. Always check the exact release and terms.