policy
UMI
Stanford / Columbia / TRI · PyTorch
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Overview
Name
UMI
Author
Stanford / Columbia / TRI
Framework
PyTorch
License
mit
Skill type
manipulation
Evidence level
verified
Task description
Universal Manipulation Interface for in-the-wild data collection and cross-robot policy transfer. Humans collect demos with handheld GoPro-equipped grippers using SLAM-based 3D tracking. Diffusion policy backbone with relative-trajectory action representation enables hardware-agnostic deployment without retraining.
Spaces
Action space
end-effector-pose · 7-dim · 10Hz
Observation space
- type: multimodal
- · wrist_gopro_fisheye_rgb (155deg)
- · end_effector_trajectory
- · gripper_width
Links
HuggingFace repo
null
Paper (arXiv)
Compatible robots
0+2 mentioned but not in catalog yetNo robots list UMI as compatible yet. Know of one? Flag it above.
Compatible environments
2Datasets that reference this policy
0No datasets reference UMI yet.