PolyUMI: Accessible Visual-Tactile-Audio Data Collection for Object Inference and Manipulation

arXiv:2609.29760 · cs.RO · Submitted 2026-09-24 · Read on arXiv

cs.RO

Submitted: 2026-09-24

Updated: 2026-09-24

Project page: https://polyumi-vista.github.io

Terminology

• Transformer — 10× in this paper · explained in 2 episodes
• Ablation — 6× in this paper · explained in 1 episode
• Accuracy — 6× in this paper · explained in 1 episode
• Multimodal Fusion — 5× in this paper · explained in 3 episodes
• Embeddings — 3× in this paper · explained in 2 episodes
• Alignment — 2× in this paper · explained in 1 episode
• Diffusion Model — 2× in this paper · explained in 8 episodes
• Flow Matching — 2× in this paper · explained in 8 episodes
• Representation Learning — 2× in this paper · explained in 2 episodes
• Calibration — 1× in this paper · explained in 7 episodes
• Data Augmentation — 1× in this paper · explained in 7 episodes
• Diffusion Models — 1× in this paper · explained in 6 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Generative Modeling — 1× in this paper · explained in 3 episodes
• Modular Components — 1× in this paper · explained in 2 episodes
• Multimodal Learning — 1× in this paper · explained in 2 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• Robotics Institute Germany — 1× in this paper

Sources

• ViTaMIn: Learning Contact-Rich Tasks Through Robot-Free Visuo-Tactile Manipulation Interface
• Digitizing Touch with an Artificial Multimodal Fingertip
• A multi-modal tactile fingertip design for robotic hands to enhance dexterous manipulation

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