A Head Camera Is (Almost) All You Need: An Electronics-Free UMI Glove Labelled and Observed by One Moving Camera
Handheld demonstration devices decouple data collection from the robot, but conventional designs burden the hand with a wrist camera, cables and a pose tracker (SLAM, an IMU, a VR controller, or a fixed external camera that the collector's body occludes), and burden the pipeline with as many data streams to timestamp, synchronise and cross-calibrate. We show that a single egocentric camera (USD 122) worn on the collector's head replaces the wrist camera, the pose tracker and their separate streams with one. It reads printed fiducials on an electronics-free glove (USD 22) against paper tiles taped around the workspace, giving the 6-DoF gripper pose and the jaw width from the same frames th...
| Authors | Yosub Shin, Yuan Liu, Igor Molybog |
|---|---|
| Primary category | cs.RO |
| Published | 20 October 2026 |
| Last updated at source | 20 October 2026 |
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