The authors built HIL-UMI around handheld Universal Manipulation Interface demonstrations.
Handheld demonstrations improve robot policies without repeated robot execution
HIL-UMI targets out-of-distribution states and useful task segments while humans demonstrate with a Universal Manipulation Interface.
Top University
Zimu Han · Yiming Zeng · Jiyao Zhang · Zihao Zhao · Yuanfei Wang · Yixiang Jin · +6 more
Xi’an Jiaotong University · National Key Laboratory for Multimedia Information Processing · Peking University · PrimeBot · Center on Frontier Computing Studies
Research Digest··2 min read
Han et al.
Why this paper
From Peking University and 5 others · Part of Credit Assignment in Agentic RL, now 17 papers
In one line
HIL-UMI improves VLA robot policies via human-in-the-loop data collection without physical robot deployment.
What we could check
- ·No code link found
- ·No weights link found
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- ·No compute details found
- ·No stated limitations found
- ·No benchmark numbers found
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