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UMI (Universal Manipulation Interface)
Definition
A handheld gripper with cameras and sensors that records how a human manipulates objects, so robots can learn from the end-effector's point of view.
UMI-style devices pair a wrist-view fisheye camera with gripper-width sensing and trajectory estimation. Commercial variants add tactile skins, IMUs and wireless recording. Key checks: trajectory accuracy against mocap and clock alignment with the headset.