机器人RSS 20252025

UMI-2: Universal Manipulation Interface with In-the-Wild Demonstrations

Chi Cheng, Yifeng Zhu, Deepak Pathak, Shubham TulsianiCarnegie Mellon University

摘要

We present UMI-2, an enhanced universal manipulation interface that enables efficient in-the-wild robot demonstrations. UMI-2 uses a handheld gripper with fisheye cameras to collect diverse manipulation data in any environment, scaling data collection to thousands of demonstrations per day.

manipulation interfacein-the-wild demonstrationdata collectionscalableportable

技术细节

数据集

UMI In-the-Wild DataBC-Z BridgeData V2

仿真平台

MuJoCo PyBullet

测试机器人

FR3WidowX-250Gripper-equipped robots

模型骨架

Universal Manipulation Interface + Diffusion Policy

编码器

Egocentric ViT + Proprioceptive Encoder

解码器

Diffusion Policy Action Decoder (4 layers)