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Whole-Body UMI: Transferring UMI Manipulation Skills to Humanoid Whole-Body Manipulation via Real-Time Motion Generation
Collecting whole-body demonstrations for humanoid manipulation mostly relies on teleoperation, which is costly and hard to scale up. The Universal Manipulation Interface (UMI) provides a scalable data collection paradigm, but end-effector trajectories alone underdetermine humanoid whole-body coordin
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