Research Sources

Citing this work

These hardware designs were developed for, and validated in, GR00T 2. If you use GEAR UMI or the other GR00T Data Hardware Prototypes in your work, please cite the GR00T 2 paper. Please also cite the original UMI paper below, which GEAR UMI builds on.

GR00T 2: Scaling Robot Foundation Models for Generalization, Dexterity, and Adaptation

NVIDIA GEAR.

GR00T 2 page

@article{gr00t2_2026,
  title   = {GR00T 2: Scaling Robot Foundation Models for
             Generalization, Dexterity, and Adaptation},
  author  = {{NVIDIA}},
  year    = {2026},
  url     = {https://research.nvidia.com/labs/gear/gr00t-2/}
}

Papers

Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots

Robotics: Science and Systems (RSS) 2024.

Presents a hand-held gripper for collecting demonstrations anywhere, with no robot needed, and a policy interface that transfers the recorded skills directly to robots. GEAR UMI is based on this design.

Project page · Paper (arXiv) · Code

@inproceedings{chi2024universal,
  title={Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots},
  author={Chi, Cheng and Xu, Zhenjia and Pan, Chuer and Cousineau, Eric and Burchfiel, Benjamin and Feng, Siyuan and Tedrake, Russ and Song, Shuran},
  booktitle={Proceedings of Robotics: Science and Systems (RSS)},
  year={2024}
}