OmniUMI: Towards Physically Grounded Robot Learning via Human-Aligned Multimodal Interaction

• URL: http://arxiv.org/abs/2604.10647v1
• Date: Sun, 12 Apr 2026 13:48:48 GMT
• Title: OmniUMI: Towards Physically Grounded Robot Learning via Human-Aligned Multimodal Interaction
• Abstract summary: UMI-style interfaces enable scalable robot learning, but existing systems remain largely visuomotor.<n>We present OmniUMI, a unified framework for physically grounded robot learning via human-aligned multimodal interaction.
• Score: 41.5123936517904
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: UMI-style interfaces enable scalable robot learning, but existing systems remain largely visuomotor, relying primarily on RGB observations and trajectory while providing only limited access to physical interaction signals. This becomes a fundamental limitation in contact-rich manipulation, where success depends on contact dynamics such as tactile interaction, internal grasping force, and external interaction wrench that are difficult to infer from vision alone. We present OmniUMI, a unified framework for physically grounded robot learning via human-aligned multimodal interaction. OmniUMI synchronously captures RGB, depth, trajectory, tactile sensing, internal grasping force, and external interaction wrench within a compact handheld system, while maintaining collection--deployment consistency through a shared embodiment design. To support human-aligned demonstration, OmniUMI provides dual-force feedback through bilateral gripper feedback and natural perception of external interaction wrench in the handheld embodiment. Built on this interface, we extend diffusion policy with visual, tactile, and force-related observations, and deploy the learned policy through impedance-based execution for unified regulation of motion and contact behavior. Experiments demonstrate reliable sensing and strong downstream performance on force-sensitive pick-and-place, interactive surface erasing, and tactile-informed selective release. Overall, OmniUMI combines physically grounded multimodal data acquisition with human-aligned interaction, providing a scalable foundation for learning contact-rich manipulation.

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