LeCAR-Lab/umi-on-air_checkpoints

UMI-on-Air - Pre-trained Checkpoints

Pre-trained diffusion policy checkpoints for UMI-on-Air: Embodiment-Aware Guidance for Embodiment-Agnostic Visuomotor Policies.

📄 Paper: UMI-on-Air (PDF) | arXiv

🌐 Project Website: umi-on-air.github.io

💻 Code: GitHub

Checkpoints Included

Task	Description
umi_cabinet	Cabinet door opening task
umi_peg	Peg insertion task
umi_pick	Object picking task
umi_valve	Valve turning task

Usage

# Download and extract
wget https://huggingface.co/LeCAR-Lab/umi-on-air_checkpoints/resolve/main/checkpoints.tar.gz
tar -xzf checkpoints.tar.gz

Each checkpoint folder contains:

• checkpoints/latest.ckpt - Model weights
• normalizer.pkl - Data normalization parameters
• .hydra/config.yaml - Training configuration

Citation

If you use these checkpoints, please cite our work:

@misc{gupta2025umionairembodimentawareguidanceembodimentagnostic,
      title={UMI-on-Air: Embodiment-Aware Guidance for Embodiment-Agnostic Visuomotor Policies}, 
      author={Harsh Gupta and Xiaofeng Guo and Huy Ha and Chuer Pan and Muqing Cao and Dongjae Lee and Sebastian Scherer and Shuran Song and Guanya Shi},
      year={2025},
      eprint={2510.02614},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2510.02614}, 
}