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PolyUMI: A visual-tactile-audio multimodal data collection platform for object inference and manipulation

PolyUMI is an open-source visual-tactile-audio demonstration collection and robot deployment platform. Its lightweight wireless handheld gripper synchronously records wrist-camera, optical tactile, contact-audio, and proprioceptive observations without requiring a tethered workstation. The same sensing finger can be transferred to the robot end effector to keep the sensing geometry consistent between data collection and policy execution.

Part of the event: PolyUMI: An Open-Source Multimodal Demonstration Collection Platform and the VisTA Policy

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