Event
Electronic-free UMI glove scheme using a head-mounted single camera to replace wrist cameras
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Yosub Shin and other researchers propose replacing the wrist camera and pose tracker in the UMI glove scheme with a single monocular camera (USD 122) worn on the data collector's head, reading printed fiducial markers on an electronic-free glove (USD 22) and paper tiles in the workspace, and directly outputting the 6-DoF gripper pose and gripper width from the same frame that the policy will see. At deployment, the same camera is mounted on a low-cost (USD 120) robotic arm beside the robot, mimicking the collector's head motion based on the robot's joint states. The paper reports that, compared against robot encoders, the median annotation accuracy is 6.5 mm and 1.6 degrees, with frame coverage of 93–100%; after adding 194 glove demonstrations to 48 teleoperation episodes, rollout success rate improved from 10/25 to 17/25.
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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.
arXiv cs.RO ·