UMI-on-Air: Aerial Manipulator with Diffusion Visuomotor Policies

We developed a fully-actuated hexa-rotor aerial manipulator, and applied diffusion-based visuomotor policy to generate end-effector trajectory, enabling the robot to do autonomous light bulb installation and many other tasks! The demonstration are collected using handhold universal manipulator interface (UMI).

Paper: UMI-on-Air: Embodiment-Aware Guidance for Embodiment-Agnostic Visuomotor Policies, in collaboration with Prof. Guanya Shi (CMU), Prof. Shuran Song (Stanford)

Autonomous tasks: light bulb installation, fruit pick-and-place, cm-level peg-in-hole