UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception
We present UMI-3D, a multimodal extension of the Universal Manipulation Interface (UMI) for robust and scalable data collection in embodied manipulation. While UMI enables portable, wrist-mounted data acquisition, its reliance on monocular visual SLAM makes it vulnerable to occlusions, dynamic scenes, and tracking failures, limiting its applicability in real-world environments. UMI-3D addresses these limitations by introducing a lightweight and low-cost LiDAR sensor tightly integrated into the wrist-mounted interface, enabling LiDAR-centric SLAM with accurate metric-scale pose estimation under challenging conditions. We further develop a hardware-synchronized multimodal sensing pipeline a...
| Authors | Ziming Wang |
|---|---|
| Primary category | cs.RO |
| Published | 15 April 2026 |
| Last updated at source | 15 April 2026 |
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