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.
Universal manipulation interface: In-the-wild robot teaching without in-the-wild robots,
2 Pith papers cite this work. Polarity classification is still indexing.
2
Pith papers citing it
fields
cs.RO 2years
2026 2verdicts
UNVERDICTED 2representative citing papers
Episode-wise relative proprioceptive encoding outperforms absolute state baselines for robust robotic manipulation under varying reference frames.
citing papers explorer
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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.
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When Absolute State Fails: Evaluating Proprioceptive Encodings for Robust Manipulation
Episode-wise relative proprioceptive encoding outperforms absolute state baselines for robust robotic manipulation under varying reference frames.