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Whole-Body UMI: Humanoid Whole-Body Manipulation from UMI Data

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Whole-Body UMI transfers UMI manipulation skills to humanoid whole-body control: a diffusion policy over native UMI demos plus a mocap-trained motion prior generates task-agnostic end-effector-conditioned motion, reaching 90% drawer-closing and 80% shelf pick-place on a real Unitree G1 without task-specific whole-body demos.

Humanoid Whole-Body Control Manipulation Diffusion policies Unitree Motion Capture

Category: humanoid

Author: @ZhongyuLi4

Date: 2026-10-10T00:00:00

Duration: 148.212s

Source: https://x.com/ZhongyuLi4/status/2108800749471936741

Reference: https://wholebody-umi.github.io/

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