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

- Source: arXiv cs.RO
- Published: 2026-10-22T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/x0efsudj0m4jfjhgxxv88es83
- Original: https://arxiv.org/abs/2609.29760

## Summary

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.