Update README.md

README.md

@@ -100,4 +100,66 @@ The project provides:
 ### Example Dataset
 ```bash
 # Direct download (may be slow in some regions)
-huggingface-cli download FastUMIPro/example_data_fastumi_pro_raw --repo-type dataset --local-dir ~/fastumi_data/
+huggingface-cli download FastUMIPro/example_data_fastumi_pro_raw --repo-type dataset --local-dir ~/fastumi_data/
+
+Mirror Download (Recommended)
+bash
+# Set mirror endpoint
+export HF_ENDPOINT=https://hf-mirror.com
+
+# Download via mirror
+huggingface-cli download --repo-type dataset --resume-download FastUMIPro/example_data_fastumi_pro_raw --local-dir ~/fastumi_data/
+📁 Data Structure
+Each session represents an independent operation "episode" containing observation data and action sequences.
+
+Directory Structure
+text
+session_001/
+└── device_label_xv_serial/
+    └── session_timestamp/
+        ├── RGB_Images/
+        │   ├── timestamps.csv
+        │   └── Frames/
+        │       ├── frame_000001.jpg
+        │       └── ...
+        ├── SLAM_Poses/
+        │   └── slam_raw.txt
+        ├── Vive_Poses/
+        │   └── vive_data_tum.txt
+        ├── ToF_PointClouds/
+        │   ├── timestamps.csv
+        │   └── PointClouds/
+        │       └── pointcloud_000001.pcd
+        ├── Clamp_Data/
+        │   └── clamp_data_tum.txt
+        └── Merged_Trajectory/
+            ├── merged_trajectory.txt
+            └── merge_stats.txt
+Data Specifications
+Data Type	Path	Shape/Type	Description
+RGB Images	Frames/frame_...jpg	(frames, 1080, 1920, 3), uint8, 60 FPS	Camera video data
+SLAM Poses	slam_raw.txt	(timestamps, 7), float	UMI end-effector poses
+Vive Poses	vive_data_tum.txt	(timestamps, 7), float	Vive base station poses
+ToF PointClouds	PointClouds/pointcloud_...pcd	pcd format	Time-of-Flight point cloud data
+Clamp Data	clamp_data_tum.txt	(timestamps, 1), float	Gripper spacing (mm)
+Merged Trajectory	merged_trajectory.txt	(timestamps, 7), float	Fused trajectory (Vive/UMI based on velocity)
+Pose Data Format
+All pose data (SLAM, Vive, Merged) follow the same format:
+
+text
+[Pos_X, Pos_Y, Pos_Z, Q_X, Q_Y, Q_Z, Q_W]
+
+🔄 Data Conversion
+[TBD - Data conversion methods will be added here]
+
+🤝 Collaboration
+FastUMI Pro dataset is available for research collaboration. The full FastUMI-150K dataset has been provided to partner research teams for large-scale model training.
+
+📞 Contact
+For questions or suggestions, please contact the development team:
+
+Lead: Ding Yan
+
+Email: [email protected]
+
+WeChat: Duke_dingyan