YUBI: Yielding Universal Bidigital Interface for Bimanual Dexterous Manipulation at Scale

The Yielding Universal Bidigital Interface (YUBI) has been introduced as a finger-aligned gripper designed for ergonomic and scalable data collection in bimanual dexterous manipulation. It features yielding, finger-driven actuation that translates human finger movements to gripper jaw motion, with a dataset comprising 8,434 hours of data across 1.20 million episodes and 119 tasks. This release, along with the hardware and software stack, provides a significant resource for practitioners aiming to enhance robotic foundation models through high-fidelity, transferable policy training across multiple robotic platforms.