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SUMMARY:Fall 2025 GRASP SFI: Huy Ha\, Columbia University & Stanford University\, “UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers”
DESCRIPTION:This is a hybrid event with in-person attendance in Levine 307 and virtual attendance via Zoom.  \nABSTRACT\nWe introduce UMI-on-Legs\, a new framework that combines real-world and simulation data for quadruped manipulation systems. We scale task-centric data collection in the real world using a hand-held gripper (UMI)\, providing a cheap way to demonstrate task-relevant manipulation skills without a robot. Simultaneously\, we scale robot-centric data in simulation by training whole-body controller for task-tracking without task simulation setups. The interface between these two policies is end-effector trajectories in the task frame\, inferred by the manipulation policy and passed to the whole body controller for tracking. We evaluate UMI-on-Legs on prehensile\, non-prehensile\, and dynamic manipulation tasks\, and report over 70% success rate on all tasks. Lastly\, we demonstrate the zero-shot cross-embodiment deployment of a pre-trained manipulation policy checkpoint from prior work\, originally intended for a fixed-base robot arm\, on our quadruped system. We believe this framework provides a scalable path towards learning expressive manipulation skills on dynamic robot embodiments.
URL:https://seasevents.nmsdev7.com/event/fall-2025-grasp-sfi-huy-ha/
LOCATION:Levine 307\, 3330 Walnut Street\, Philadelphia\, PA\, 19104\, United States
CATEGORIES:Seminar
ORGANIZER;CN="General Robotics%2C Automation%2C Sensing and Perception (GRASP) Lab":MAILTO:grasplab@seas.upenn.edu
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