BifrostUMI enables robot-free human demonstration capture via VR and wrist cameras to train visuomotor policies that predict keypoint trajectories for transfer to humanoid whole-body control through retargeting.
In-the-wild compliant manipulation with umi-ft
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BifrostUMI: Bridging Robot-Free Demonstrations and Humanoid Whole-Body Manipulation
BifrostUMI enables robot-free human demonstration capture via VR and wrist cameras to train visuomotor policies that predict keypoint trajectories for transfer to humanoid whole-body control through retargeting.