HumanoidUMI: Bridging Robot-Free Demonstrations and Humanoid Whole-Body Manipulation

• URL: http://arxiv.org/abs/2606.27239v1
• Date: Thu, 25 Jun 2026 16:23:56 GMT
• Title: HumanoidUMI: Bridging Robot-Free Demonstrations and Humanoid Whole-Body Manipulation
• Abstract summary: We propose HumanoidUMI, a portable and robot-free framework for humanoid whole-body data collection.<n>We use lightweight VR devices and UMI-inspired grippers to collect sparse human keypoint trajectories, wrist-view observations, and gripper actions.<n>Experiments in five real-world scenarios demonstrate the effectiveness of the proposed framework.
• Score: 6.733928872257592
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: High-quality demonstration data are essential for humanoid robot skill learning, especially for whole-body behaviors that require coordinated perception, locomotion, and manipulation. Existing data-collection methods largely rely on robot teleoperation, which is constrained by hardware accessibility, operator expertise, and limited efficiency. Inspired by the Universal Manipulation Interface (UMI), we propose HumanoidUMI, a portable and robot-free framework for humanoid whole-body data collection. HumanoidUMI uses lightweight VR devices and UMI-inspired grippers to collect sparse human keypoint trajectories, wrist-view observations, and gripper actions. These demonstrations train a high-level policy to predict future keypoints, which are retargeted to robot-native whole-body references and executed by a whole-body controller. Experiments in five real-world scenarios demonstrate the effectiveness of the proposed framework and validate the collected demonstrations for transferable humanoid whole-body skill learning.

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