Pith Number

pith:IOH3C26O

pith:2024:IOH3C26OV7K54WWA6BFL52WXW6

not attested not anchored not stored refs resolved

Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots

Benjamin Burchfiel, Cheng Chi, Chuer Pan, Eric Cousineau, Russ Tedrake, Shuran Song, Siyuan Feng, Zhenjia Xu

UMI lets robots learn complex manipulation from portable human gripper demonstrations with zero-shot transfer to new settings and hardware.

arxiv:2402.10329 v3 · 2024-02-15 · cs.RO

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{IOH3C26OV7K54WWA6BFL52WXW6}

Prints a linked badge after your title and injects PDF metadata. Compiles on arXiv. Learn more · Embed verified badge

Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

policies learned via UMI zero-shot generalize to novel environments and objects when trained on diverse human demonstrations. The resulting learned policies are hardware-agnostic and deployable across multiple robot platforms.

C2weakest assumption

The carefully designed gripper interface, inference-time latency matching, and relative-trajectory action representation sufficiently minimize the domain gap between human demonstrations and robot execution to enable reliable zero-shot transfer.

C3one line summary

UMI enables zero-shot deployment of robot manipulation policies trained solely on portable human demonstrations captured with custom handheld grippers, supporting dynamic bimanual tasks across novel environments and objects.

References

69 extracted · 69 resolved · 2 Pith anchors

[1] Human-to-robot imitation in the wild 2022

[2] Affordances from human videos as a versatile representation for robotics 2023

[3] Rt-1: Robotics transformer for real-world control at scale 2023

[4] Humanoid robot teleoperation with vibrotactile based balancing feedback 2014

[5] Berk Calli, Arjun Singh, Aaron Walsman, Siddhartha Srinivasa, Pieter Abbeel, and Aaron M. Dollar. The ycb object and model set: Towards common benchmarks for manipulation research. In 2015 Internation 2015 · doi:10.1109/icar.2015.7251504

Formal links

3 machine-checked theorem links

Cited by

39 papers in Pith

A Careful Examination of Large Behavior Models for Multitask Dexterous Manipulation

Language Conditioned Multi-Finger Dexterous Manipulation Enabled by Physical Compliance and Switching of Controllers

TacO: Benchmarking Tactile Sensors for Object Manipulation

Empowering Robot Teleoperation: Exploring the Synergies Between Devices and Manipulator Controllers in a Comparative Study

TwinRL: Digital Twin-Driven Reinforcement Learning for Real-World Robotic Manipulation

Receipt and verification

First computed	2026-05-17T23:39:21.608976Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

438fb16bceafd5de5ac0f04abeead7b7bec08bcd8b56e6c00e3b59b8019991d8

Aliases

arxiv: 2402.10329 · arxiv_version: 2402.10329v3 · doi: 10.48550/arxiv.2402.10329 · pith_short_12: IOH3C26OV7K5 · pith_short_16: IOH3C26OV7K54WWA · pith_short_8: IOH3C26O

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/IOH3C26OV7K54WWA6BFL52WXW6 \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 438fb16bceafd5de5ac0f04abeead7b7bec08bcd8b56e6c00e3b59b8019991d8

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "249acae03a3e7aff684d363f05edaba5f3c3124074b229e08ef55c0a8bb71bbf",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2024-02-15T21:11:50Z",
    "title_canon_sha256": "edee3fa4f48de5c4c2ef0d5585c2a412787c057e1d1f5f03c0a19160bb3e6558"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2402.10329",
    "kind": "arxiv",
    "version": 3
  }
}