I am confused about ee pose tracking.

[yangfengzzz]

I read in UMI paper, the ee pose trajectory is relative to first frame. But how to make real robot attach to the first frame? where should I put the robot base in real world

[raulgarreta]

From what I understand, you don't need to do that. The model predicts the gripper relative pose to first frame gripper pose as you said. That's independent of where the robot base is.