Whole-Body UMI: Transferring UMI Manipulation Skills to Humanoid Whole-Body Manipulation via Real-Time Motion Generation

arXiv:2609.22829 · cs.RO · Submitted 2026-09-19 · Read on arXiv

cs.RO

Submitted: 2026-09-19

Updated: 2026-09-22

Code: https://github.com/kevinzakka/mink

Terminology

• Reinforcement Learning — 5× in this paper · explained in 4 episodes
• Universal Manipulation Interface — 4× in this paper
• Flow Matching — 3× in this paper · explained in 8 episodes
• Foundation Model — 3× in this paper · explained in 3 episodes
• Twelfth International Conference on Learning Representations — 2× in this paper
• Action Space — 1× in this paper · explained in 1 episode
• Adaptation — 1× in this paper · explained in 1 episode
• CVF International Conference on Computer Vision — 1× in this paper
• Consistency — 1× in this paper · explained in 3 episodes
• Core — 1× in this paper · explained in 2 episodes
• Data Augmentation — 1× in this paper · explained in 7 episodes
• Decoupling — 1× in this paper · explained in 2 episodes
• Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Diffusion Model — 1× in this paper · explained in 8 episodes
• Diffusion Policy (DP) — 1× in this paper · explained in 2 episodes
• Embodied AI — 1× in this paper · explained in 2 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Generative Model — 1× in this paper · explained in 2 episodes
• Generative Models — 1× in this paper · explained in 2 episodes
• Quadratic Programming (QP) — 1× in this paper · explained in 2 episodes
• Reinforcement Learning (RL) — 1× in this paper · explained in 25 episodes
• Woble-body Control — 1× in this paper

Sources

• Humanoid Manipulation Interface: Humanoid Whole-Body Manipulation from Robot-Free Demonstrations
• BifrostUMI: Bridging Robot-Free Demonstrations and Humanoid Whole-Body Manipulation
• TWIST: Teleoperated Whole-Body Imitation System
• TWIST2: Scalable, Portable, and Holistic Humanoid Data Collection System
• FastUMI: A Scalable and Hardware-Independent Universal Manipulation Interface with Dataset
• HoMMI: Learning Whole-Body Mobile Manipulation from Human Demonstrations
• Kimodo: Scaling Controllable Human Motion Generation
• TextOp: Real-time Interactive Text-Driven Humanoid Robot Motion Generation and Control
• Track Any Motions under Any Disturbances
• BeyondMimic: From Motion Tracking to Versatile Humanoid Control via Guided Diffusion
• BFM-Zero: A Promptable Behavioral Foundation Model for Humanoid Control Using Unsupervised Reinforcement Learning
• Scaling Behavior Foundation Model for Humanoid Robots

Related papers

• FMT x: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning
• MPCFormer: A physics-informed data-driven approach for explainable socially-aware autonomous driving
• RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies
• Fine-tuning is Not Enough: A Parallel Framework for Collaborative Imitation and Reinforcement Learning in End-to-end Autonomous Driving