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Whole-Body UMI: Transferring UMI Manipulation Skills to Humanoid Whole-Body Manipulation via Real-Time Motion Generation

arXiv · AI, language, vision and robotics · article · Sep 19, 2026 · UTC

Collecting whole-body demonstrations for humanoid manipulation mostly relies on teleoperation, which is costly and hard to scale up. The Universal Manipulation Interface (UMI) provides a scalable data collection paradigm, but end-effector trajectories alone underdetermine humanoid whole-body coordination, which is insufficient for whole-body demonstration collection. Therefore, we introduce Whole-Body UMI (WB-UMI), a task-agnostic, real-time and end-effector conditioned motion generator that decouples whole-body coordination learning from task semantics learning through a shared end-effector i

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