Universal Manipulation Interface (UMI)
Description
UMI records human demonstrations using one or two portable, camera-equipped handheld parallel grippers rather than robots at the collection site. It captures wrist-view visual context, gripper motion and width, and relative inter-gripper trajectories, with collection reaching 111 demonstrations per hour in the reported cup task. Released experiments cover dynamic object tossing, precise cup placement, bimanual cloth folding, and seven-stage dishwashing, and the resulting policies transfer between UR5e and Franka arms and generalize to new objects and environments.
License
Dataset license not specified. Code: MIT.*
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