SEED-UMI shares one exoskeleton between human and robot for dexterous demos
jeasinema · x · 2026-09-13
SEED-UMI, from Peking University's General AI lab and Delta Intelligence, accepted to CoRL 2026, lets a human demonstrator and the robot wear the same exoskeleton: joint encoders capture 20 independently measured finger DoF (plus 6-DoF wrist tracking via Intel RealSense T265), while exoskeleton-mounted cameras observe from matched viewpoints during both data collection and robot execution.
This turns motion retargeting into paired cross-embodiment supervision, so contact-rich human demonstrations become training data for dexterous manipulation policies using only raw wrist images. The setup pairs with the fully actuated Wuji 20-DoF robot hand and a 150° ventral fisheye camera, and is demonstrated on a suite of contact-rich dexterous tasks.
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