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Head-Mounted Single Camera Replaces Wrist Camera and Pose Tracking in Electronics-Free UMI Glove Solution

The paper proposes replacing the wrist camera, pose tracker, and their separate data streams in the UMI glove setup with a single monocular camera (USD 122) worn on the collector's head. It reads printed fiducial markers on an electronics-free glove (USD 22) and paper tiles in the workspace, producing the 6-DoF gripper pose and jaw width from the same frames the policy will see. At deployment, the same camera is mounted on a low-cost (USD 120) robotic arm beside the robot and mimics the collector's head motion based on the robot's joint states.

Part of the event: Electronic-free UMI glove scheme using a head-mounted single camera to replace wrist cameras

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