A wearable interface with a shared dexterous hand module enables retargeting-free teleoperation and matched data collection, yielding policies with 88.75% average success across eight real-robot tasks that generalize and transfer across embodiments.
Ace: A cross-platform visual-exoskeletons system for low-cost dexterous teleoperation.arXiv preprint arXiv:2408.11805, 2024
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DexPIE improves dexterous manipulation success rates by 37% over demo policies via real-world experience collection with adapted intervention, multi-stage DAgger, asynchronous relative-action inference, and optimality conditioning.
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RealDexUMI: A Wearable Universal Manipulation Interface for Dexterous Robot Learning
A wearable interface with a shared dexterous hand module enables retargeting-free teleoperation and matched data collection, yielding policies with 88.75% average success across eight real-robot tasks that generalize and transfer across embodiments.
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DexPIE: Stable Dexterous Policy Improvement from Real-World Experience
DexPIE improves dexterous manipulation success rates by 37% over demo policies via real-world experience collection with adapted intervention, multi-stage DAgger, asynchronous relative-action inference, and optimality conditioning.