Quickstart

This page takes you from powering on to your first exported dataset; follow the steps in order.

Before you start

• Headset and trackers: the Pico system is updated, XTac UMI XR is installed and both trackers are paired; see Pico4 headset and tracker setup.
• Gripper calibration: the leader grippers are calibrated; see console → System → Gripper.

1. Wiring and power

1. Connect the leader grippers: plug the two leader grippers into the backpack's UMI-L and UMI-R ports.
2. Connect the headset: connect the headset to the backpack's PICO port with the Pico → Pack cable.
3. Power the backpack:
   • Fixed station: use the power adapter.
   • Mobile collection: use the power bank.

2. Open the console

1. Connect the tablet: cable the tablet to the backpack's HOST1 or HOST2 port.
2. Wait for it to open: once connected, the console opens on the tablet automatically.

If the console does not open, see Troubleshooting.

3. Connect the headset

1. Put on the headset, facing the work area.
2. Start the app: open XTac UMI XR.
3. Network settings: choose "XTac" as the connection (selected by default on first launch; it connects to the backpack at 192.168.100.1).
4. Connect: tap "Connect"; you are done when Status shows "Connected".

Do not restart the XR app during collection

Restarting resets the world origin, so poses within one dataset stop lining up.

4. Pick a project and task

1. Pick or create: at the bottom of the console's Live monitoring page, pick a project and a task; if there are none yet, choose "New project…" or "New task…".
2. Fill in the settings:
   • Capture mode: chosen when creating the project, for example "Dual gripper + stereo headset"; see capture mode.
   • Task instruction: give the new task a clear natural-language instruction.

5. Check before recording

Before you hit record, confirm these three:

• Camera views: every camera shows an image and the fisheye views are sharp.
• Pose view: follows your hands in real time, with left and right not swapped.
• Gripper opening: follows the grippers as they open and close.

If the record button is unavailable, the page states why; see Recording gates.

6. Record with the gripper buttons

Action	Button	Feedback
Start recording	Long-press right	LED breathes green
Stop recording	Long-press left	One white flash: saved
Delete the last episode	Double-click left, then double-click again to confirm	Purple LED

All gestures, LED patterns and voice prompts are in Gripper buttons, LEDs and voice.

7. Export and upload

On the console's Project page, select a task and click Export:

1. Precheck: data integrity is checked automatically; fix anything it reports.
2. Destination:
   • Download an archive to save locally.
   • Upload to a backend configured beforehand (ModelScope, S3, FTP, NFS).
3. Format: choose LeRobotDataset v3 or MCAP to suit your training pipeline.

Details are in Projects, export and upload.