OmniUMI introduces a multimodal handheld interface that synchronously records RGB, depth, trajectory, tactile, internal grasp force, and external wrench data for training diffusion policies on contact-rich robot manipulation.
Admittance Visuomotor Policy Learn- ing for General-Purpose Contact-Rich Manipulations
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OmniUMI: Towards Physically Grounded Robot Learning via Human-Aligned Multimodal Interaction
OmniUMI introduces a multimodal handheld interface that synchronously records RGB, depth, trajectory, tactile, internal grasp force, and external wrench data for training diffusion policies on contact-rich robot manipulation.