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Kinematic Interface for the Wild: Modular Bimanual Loco-Manipulation Capture from 360$^{\circ}$ Cameras Alone

arXiv · AI, language, vision and robotics · article · Sep 19, 2026 · UTC

A wrist-mounted camera for UMI-style data collection must do two jobs: record the manipulation and localize in the scene. Most handheld devices localize online from workspace-facing views crowded by hands and objects, or add dedicated tracking hardware. Room-scale bimanual capture therefore still tends to instrument the operator or the scene for accurate localization. We present KIWI (Kinematic Interface for the Wild), a capture kit whose only electronics are off-the-shelf cameras. Our core system splits the two jobs across the two lenses of a 360-degree camera. The rear lens faces the room an

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