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README.md

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+---
+license: mit
+tags:
+  - robotics
+  - diffusion-policy
+  - imitation-learning
+  - manipulation
+---
+
+# 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)](https://umi-on-air.github.io/static/umi-on-air.pdf) | [arXiv](https://arxiv.org/abs/2510.02614)
+
+🌐 **Project Website:** [umi-on-air.github.io](https://umi-on-air.github.io/)
+
+💻 **Code:** [GitHub](https://github.com/LeCAR-Lab/UMI-on-Air)
+
+## 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
+
+```bash
+# 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:
+
+```bibtex
+@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 Sherer and Shuran Song and Guanya Shi},
+      year={2025},
+      eprint={2510.02614},
+      archivePrefix={arXiv},
+      primaryClass={cs.RO},
+      url={https://arxiv.org/abs/2510.02614}, 
+}
+```
+